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Planar movable tooth drives are compact in structure and simple in processing technology. However, the speed ratio of the single-stage drive is small, whereas the size of the double-stage drive is large. To obtain a planar movable tooth drive with small size and large speed ratio, a two-stage planar movable tooth drive with integrated structure is proposed. For it, the quasi-static force analysis is completed, and the equations of the force distribution and output torque for the drive are derived. According to Hertz’s theory of point contact, the equation for the contact stress in the drive is given. Using these equations, the distribution of forces and output torque in the drive is studied. Changes of forces and torque distribution with main parameters are revealed. The contact stress of the drive is calculated under a given load. The finite element analysis software is used to simulate the contact stress of the drive, and the theoretical calculation is verified.

Forces and stress for a two-stage planar sine-wave movable tooth drive