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The previous paper reported on the practical model of φ40 pneumatic nutation motor. This time, we developed a new type pneumatic nutation motor of φ10 diameter, named the OFW-D type pneumatic nutation motor consisting of a diaphragm which has some pneumatic rooms, the OFW type bevel gears (a nutant bevel gear, a fixed bevel gear and a bevel gear pair of equal teeth number). Furthermore, a new type pneumatic nutation motor realized torque up without changing dimensions of a diameter direction using a principle of a lever is developed (named the OFW-DL type pneumatic nutation motor). In this report, first, the driving principle and design of these motors are presented. Next, the prototype of these motors are fabricated and tested. This paper concludes that the mechanism is suitable for realizing small and high-torque nutation motors.

nihon kikai gakkai ronbunshū. c

Development of Nutation Motors (4th Report, Development of Small-sized and High Torque Pneumatic Nutation Motor by the OFW Type Bevel Gears and Principle of Lever)