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间隙运动机构运动分析及创新设计试验平台研制【19张CAD图纸和说明书】

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间隙运动机构运动分析及创新设计试验平台研制【19张CAD图纸和说明书】.zip

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一个间歇运动机构的分析与设计.doc---(点击预览)

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关键词：: 间隙运动机构分析创新设计试验平台研制 19张 cad 图纸说明书

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摘要

在许多机械设备中，尤其是自动和半自动机中，由于生产工艺的需求，往往需要机构实现周期性的转位、分度以及作带有瞬间停歇或有停歇区的断续性运动。

总的来说，间歇运动机构根据其不同的结构特征和运动原理，可以分为两大类：一类是实现步进运动的间歇运动机构，如棘轮机构、槽轮机构、不完全齿轮机构、共轭盘形分度凸轮机构等；另一类是实现瞬间停歇或停歇区的间歇运动机构，如凸轮-连杆组合机构以及差动链轮机构。

由于间歇机构传动的间歇特性以及设计难度较大，所以现实生活中，对于间歇机构运动分析的试验平台还是比较少见的，本文着重对常见的几种可以实现步进运动的间歇机构进行设计，通过理论初设计时确定机构的动停比，在试验台上安装相应传感器，对运动的间歇机构进行数据的采集，绘制出间歇机构的运动曲线，对机构进行运动的分析，确定机构在理想工况下的传动特性，从而对后期机构的矫正与优化提供一定的帮助。

关键字：间歇运动机构；传感器；步进运动；试验台

Abstract

In many machinery and equipment，Especially in automatic and semi-automatic machines , Due to the demand of the production process, Often requires agencies to achieve a cyclical translocation, indexing and with instantaneous stop or stop intermittent motion.

Overall, Intermittent mechanism can be divided into two categories according to their different structural characteristics and movement principle, One is stepping movement intermittent motion mechanism, such as Ratchet mechanism, Geneva mechanism, incomplete gear mechanism, conjugated disc-shaped indexing cam mechanism and so on; The other is instantly stop or rest area intermittent motion mechanism, such as Cam - connecting rod combination mechanism and differential sprocket mechanism.

Due to the intermittent transmission characteristics of intermittent institutions as well as design more difficult,, in real life, the test platform for intermittent motion analysis is still relatively rare. This article focuses on several common stepper motion can be achieved intermittent do a parametric design. Determined by the theory of the early design agency of the Proportion of movement and rest. Sensor installed on the test stand, collect the data of the Intermittent movement mechanism, Measuring the angular displacement of its movement, the angular velocity, Analysis of the motion of the institutions, Determining mechanism in the transmission characteristics of the ideal conditions, Correction and optimization of the late institutions to provide some help.

Key words:Intermittent mechanism;Sensor;stepper motion；Test bench

摘要

Abstract

第1章绪论 1

1.1 间歇机构的背景 1

1.2 国内外研究现状及发展趋势 1

1.2.1 国内外间歇机构研究现状 1

1.2.2 国内外间歇机构研究趋势 3

1.3 本次设计的内容和意义 3

第2章间歇运动机构的设计 4

2.1 棘轮机构的设计 4

2.2 槽轮机构的设计 7

2.3 不完全齿轮机构的设计 10

2.4 共轭盘形分度凸轮机构的设计 16

第3章间歇运动机构试验平台 26

3.1试验台的简介 26

3.2电机的选择 29

3.3减速器的选择 29

3.4旋转编码器的选择 30

3.5 带的设计 31

3.6 轴的强度校核 32

第4章间歇机构的运动分析 33

4.1 槽轮机构运动分析 33

4.2 共轭凸轮运动分析 36

第5章总结与展望 40

参考文献 41

致谢 42

第1章绪论

1.1 间歇机构的背景

科学技术的进步与发展使各种生产机械的性能日益完善和复杂，机械化和自动化控制水平日益提高。相应的，对生产机械中的各种执行机构和辅助机构的性能提出了越来越高的要求。尤其在轻工、食品、纺织、电子等行业广泛使用的各种自动机械、输送装置中，有许多包含步进机构的机械系统。其特点是将系统输入轴的连续回转运动转换为工作执行机构的间歇转动或移动，从而使系统在其间歇期能完成预期的工艺动作。为了适应不同的工作要求，改善动态性能，提高定位精度，各种间歇机构自发明伊始，人们不断创造众多结构新颖、构思巧妙、满足各种工艺需要的间歇运动机构。

1.2 国内外研究现状及发展趋势

1.2.1 国内外间歇机构研究现状

在十八世纪后期，由于受当时生产水平的限制，普遍采用槽轮机构、星轮机构等结构简单的间歇运动机构，且只有简单的运动分析方法。十九世纪中叶以后，生产水平不断发展，开始出现机构的综合方法。近年来，不少国内外机构学工作者致力于间歇运动机构的研究，取得了一些成果，但从事间歇运动机构研究的人并不多，而间歇机构在生产生活中的应用却越来越广泛，因此，对间歇机构试验台的研制很有必要。

棘轮机构一般用于传递平行轴的运动，在机械中一般应用在转速不高和要求间歇转动的装置中，如牛头刨床工具机台的横向进给机构、自行车后轴的齿式棘轮超越机构、手动绞车中的防逆转机构、超越离合器和刹车器等机构。由于棘轮是在非对称应力循环加载下特有的一种非弹性循环受力,其结构安全性和寿命评估是设计人员在设计时必须考虑的一个重要因素。康国政、高庆学者的课题组对40Cr3MoV贝氏体钢、调质42CrMo钢等循环软化材料的棘轮行为进行了实验研究,结果表明:该类材料的棘轮行为具有明显的三阶段特征,即初始的棘轮应变率衰减阶段、中段的常棘轮应变率阶段和后期的加速棘轮应变率阶段,并且材料会很快因为过大的棘轮应变而过早失效。由于棘轮行为的复杂性,很多因素的影响都还没有得到合理的考虑,还需要进行大量的实验以及相应的理论研究。

槽轮机构具有结构简单,便于制造、安装方便等优点,但传统普通槽轮机构在每次驱动曲柄进人或脱离轮槽时,槽轮的瞬时角加速度不为零且方向相反。以致发生方向相反的冲击,引起动载荷,使系统产生不必要的振动,尽管增多槽数等方法可以减缓加速度的峰值,但无法从根本上完全消除。现在有些学者对传统普通槽轮机构进行机构变异,使新型槽轮机构能够在很大程度上克服以上缺点。

不完全齿轮机构是由齿轮机构演变而得的一种间歇运动机构。不完全齿轮机构是一种颇具特色的间歇运动机构, 特别是对于低速、轻载、要求间歇匀速传动的情况, 尤为适宜。近年来, 很多作者进一步对不完全齿轮机构的啮合过程几何参数作了详细的推证, 但是, 由于不完全齿轮机构的参数众多, 关系复杂, 交错影响, 给设计工作带来很大困难。现行的设计方法, 一般都是以假想齿轮的齿数Z 、模数m或中心距A为给定条件, 再选定一些参数, 经过相当繁复的运算, 得出K值。如果K 值不合要求, 则需另选参数, 重新计算。由于这些参数并不标志间歇运动的基本特征, 因此计算工作量很大,而所得结果往往不够理想。由于缺少有效的设计方法, 在一定程度上也影响了推广应用。

凸轮型分度机构结构简单、能自动定位、动静比可任意选择，已广泛应用于印刷、食品包装等自动机械中，并成为间歇和步进机构的主要发展方向。凸轮机构在发达国家已有数十年的发展历史，其理论研究工作仍在深入，其生产已采用高精度加工设备，产品质量不断完善。Gonzalez．Palacios和J．Angeles于1990年提出了输入、输出轴相交成任意角度的球面分度凸轮机构，但只是分析了输入、输出构件的直接接触的情况。此后，他们进一步推导了含滚子的球面分度凸轮机构的凸轮轮廓的曲面方程，初步分析了输入、输出轴夹角对机构压力角的影响，给出了几个摆动凸轮机构的设计实例和一个球面空间分度凸轮机构的原型机。目前对球面分度凸轮机构的理论分析工作已取得一些成果，但是该机构采用球面凸轮，结构复杂，加工制造难度很大，制造成本较高，与实际应用还有相当的一段距离。我国于70年代开始在某些工厂和高校着手研究这类机构，在几何学、运动学、结构设计和动力学方面均取得了一些成果，已具备设计开发能力。

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内容简介：: /Engineering ScienceEngineers, Part C: Journal of Mechanical Proceedings of the Institution of Mechanical/content/219/7/687The online version of this article can be found at:DOI: 10.1243/095440605X315086872005 219:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering ScienceHao Wang, Ce Zhang and Guanlong ChenKHV Indexing Cam Mechanism: A New Intermittent MechanismPublished by:On behalf of:Institution of Mechanical Engineerscan be found at:ScienceProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical EngineeringAdditional services and information for /cgi/alertsEmail Alerts: /subscriptionsSubscriptions: /journalsReprints.navReprints: /journalsPermissions.navPermissions: /content/219/7/687.refs.htmlCitations: What is This?- Jul 1, 2005Version of Record at ZHEJIANG UNIVERSITY on January 5, 2013Downloaded from KHV indexing cam mechanism:a new intermittent mechanismHao Wang1C3, Ce Zhang2, and Guanlong Chen11School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, Peoples Republic of China2School of Mechanical Engineering, Tianjin University, Tianjin, Peoples Republic of ChinaThe manuscript was received on 13 September 2004 and was accepted after revision for publication on 5 April 2005.DOI: 10.1243/095440605X31508Abstract: The KHV indexing cam mechanism is a new type intermittent mechanism that hasa structure similar to the KHV planetary gear transmission (one type of the planetary drivewith small teeth difference, where K indicates the sun gear, H indicates the pivoted arm, andV indicates the output mechanism). This paper focuses on the generation of a pitch curveand a cam profile in such a new mechanism. Three types of the KHV indexing cam mechanismare compared and discussed, and the equations of cams pitch curves are derived. The camsprofile is generated by Boolean operations on the offsets of the cams pitch curve.After this, the cusps on the cam profile are eliminated and replaced by a particular Hermitecurve. The animations of all three types are illustrated, and a prototype of such mechanism isreported.Keywords: intermittent mechanism, indexing cam mechanism, planetary transmission1 INTRODUCTIONIndexing cam mechanisms are widely used in theindustry. Three types of such mechanisms, the paral-lel indexing cam mechanism, the Ferguson indexingcam mechanism, and the barrel indexing cammechanism, are the traditional types well knowntoday 18. In recent years, some new types ofindexing cam mechanisms have also been reported,e.g. the synthesis of the spherical indexing cammechanism with direct contact between cam andfollower was reported by Gonzalez-Palacios andAngeles 9. They extended this concept to thespherical indexing cam mechanism including rollers10. Gonzalez-Palacios and Angeles 11 also pro-posed a unified approach aiming at the synthesisof indexing cam mechanisms with direct contacttransmission. A new type of parallel indexing cammechanism with an internal cam was reported byNishioka and Nishimura 12. Zhang 13, 14 createda new concept of indexing cam mechanisms theplanetary indexing cam mechanism and presentedtwo types of it. In this paper, the concept is extendedto the KHV indexing cam mechanism, which is anintermittent mechanism that has a layout of KHVplanetary gear transmission.The new mechanism is suitable for the workingconditions where a large number of stops areneeded. As most of the rollers can be engaged withthe cam in the mechanism, a higher strength andmore compact design can be obtained. This newmechanism could expand the applicable ranges ofthe indexing drivers to wider industry applications.This paper focuses on the generation of the pitchcurve and the profile of the cam in such a mechan-ism. The structure of this paper is as follows. First,section 2, discusses three types of the KHV indexingcam mechanism, namely, type I, type II, and theretrogressed mechanism; then the generation of thecams pitch curve and cam profile are explained andtheanimationofthemechanism(typeIandtypeII) isillustrated in sections 3, 4, and 5, respectively, after abrief introduction of the retrogressed mechanism insection 6. Finally a prototype of the mechanism ispresented in section 7.C3Corresponding author: Auto-body Manufacturing TechnologyCentre, School of Mechanical Engineering, Shanghai Jiao TongUniversity, Shanghai 200030, Peoples Republic of China.687C16204#IMechE 2005 Proc. IMechE Vol. 219 Part C: J. Mechanical Engineering Scienceat ZHEJIANG UNIVERSITY on January 5, 2013Downloaded from 2 STRUCTURE OF THE DEVICEThe structure of a KHV indexing cam mechanism issimilar to a cycloid speed reducer, whose schemeis depicted in Fig. 1. A cycloid speed reducer is com-posed of an epitrochoid planet gear g, an input shaftH (pivoted arm) with an eccentricity, and a numberof rollers fixed in sun gear b. For pure rotationalmotion of the output shaft V, the eccentric wobbleof the planet gear g is filtered out by device W,which is a parallelogram mechanism.As the layout of a KHV indexing cam mechanism issimilar to the cycloid speed reducer, Fig. 1 is alsoused as the scheme of the new mechanism. In sucha mechanism, the pair of planet gears g and the roll-ers in sun gear b are replaced by a camroller pair toimplement the intermittent motion. In the motionprocess, the input shaft H rotates at a constantspeed, while the rotation of the planet gear g isintermittent. The rotational motion of the planetgear g is also filtered out by device W to outputshaft V.The KHV indexing cam mechanism can bedesigned as two different types according to thelayout of the camrollers pair, namely, type I, inwhich planet gear g is a cam and the rollers arefixed in sun gear b, and type II, in which the rollersare fixed in the planet gear g and the sun gear b isan internal cam. When the output shaft is the sungear b, and V is fixed, the mechanism is no longer aplanetary mechanism, but an ordinary gear trainretrogressed from the planetary mechanism (Fig. 2).Because such a retrogressed mechanism could alsofulfill the task of an intermittent motion, it is catalo-gued as the retrogressed type of the KHV indexingmechanism. Research work has been reported earlieron type II of the mechanism by Zhang 13. In thispaper, attention is focused on the synthesis of allthree types.3 PITCH CURVE OF THE CAM3.1 Equation of the pitch curveOn the basis of the layout of the mechanismmentioned earlier and the relative motion of its com-ponents, the coordinate system and the parametersin type I are constructed as in Fig. 3. Consider threebodies: g, playing the role of the planet cam, bbeing the sun gear with rollers, and H being theinput shaft with an eccentricity. Oband Ogdenotethe centre of sun gear b and planet cam g, respect-ively. The fixed coordinate system ObXbYbis rigidlyfixed on the sun gear b, and the input shaft H rotatesaround the point Obwith a constant angular velocity.A relative coordinate system OgXgYgrigidly con-nected to the planet cam g is also set up, and Ogalso represents the rotational centre of the planetcam g. We assume that e represents the eccentricityin the input shaft, and the radius of the sun gear b(the distances between Oband the centre of rollersMi)isRz. The number of rollers in the sun gear bis z. The angular displacement of the input shaft His uH, and that of the planet cam g is ug. Let Mi(i 1, .,z) represent the centre of the rollers,respectively.Three position vectors, Rzi, H, and RTi, are alsoshown in Fig. 3, where Rziis fixed on the sun gear band oriented towards the centre of the roller Miwith the origin Ob, H is fixed on the input shaft andoriented towards the centre of the planet cam Ogwith the origin Obalso, and RTirepresents theposition of the cam pitch curve with the origin Og.Fig. 1 Scheme of a KHV indexing cam mechanism(type I and type II)Fig. 2 SchemeofaKHVindexingcammechanism(theretrogressed mechanism) Fig. 3 Coordinate system of type I688 Hao Wang, Ce Zhang, and Guanlong ChenProc. IMechE Vol. 219 Part C: J. Mechanical Engineering Science C16204#IMechE 2005at ZHEJIANG UNIVERSITY on January 5, 2013Downloaded from Their relationship yieldsRTi(t) RziH Rzej(aiC0ug(t)C0 eej(uH(t)C0ug(t)t 0, TC138, i 1, 2, .,z (1)For type II, the coordinate system and the par-ameters are as constructed in Fig. 4. In such type, gplays the role of the planet roller gear,bis an internalcam, and H is the input shaft with an eccentricity.Oband Ogdenote the centre of sun gear b androller gear g, respectively. The fixed coordinatesystem ObXbYbis also rigidly connected to theinternal cam b, and the input shaft H rotates aboutthe point Obwith a constant angular velocity.The moving coordinate system OgXgYgis rigidly con-nected to the roller gear g, and Ogis the rotationcentre of the roller gear g. Also, e representsthe eccentricity, and the radius of the roller gear gis Rz. The number of rollers in the sun gear b is z.The angular displacement of the input shaft H isuH, and that of the planet cam g is ug. Let Mi(i 1, .,z) represent the centre of the rollers,respectively. Three position vectors, Rzi, H, and RTi,are also used here and have the same denotionas with type I. In type II, they yield a differentrelationship asRTi(t) H Rzi eejuH(t) Rzej(aiug(t)t 0, TC138, i 1,2, .,z (2)3.2 Relations between the input and theoutput of the mechanismFrom equations (1) and (2), it is seen that the pitchcurve of either type is composed of several curvesthat are determined by every equation in the setcorrespondingly. Every curve has to be connectedto each other to make sure that the pitch curve ofthe cam is continuous. Then, the parameters inequations (1) and (2) should satisfyRTi(T) RTi1(0) (3)RTn(T) RT1(0) (4)From equations (3) and (4), for type I, the followingexpression is obtainedn z (5)iHgC0(z C0 1) (6)Then, the displacement of the input shaft and theoutput shaft are defined by the following equationuH(t) uH(0) 2(n C0 1)ptnT(7)ug(t) C02pSn(8)For type II, another expression is obtainedn z (9)iHgC0z (10)the displacement of the input shaft and the outputshaft in type II has a different definitionuH(t) uH(0) 2ptT(11)ug(t) C02pSn(12)Figures 5 and 6 provide examples of the pitchcurve of type I and type II, respectively. In bothtypes, Rz 100, n 12, modified sine motion isused to generate the pitch curve.Figure 5 also shows the connection point betweenevery piece of curve, with an asterisk, with d 0.83and K1 1.2, and in Fig. 6, d 1 and K1 1.92.Fig. 4 Coordinate system of type II Fig. 5 Pitch curve of type IKHV indexing cam mechanism 689C16204#IMechE 2005 Proc. IMechE Vol. 219 Part C: J. Mechanical Engineering Scienceat ZHEJIANG UNIVERSITY on January 5, 2013Downloaded from 4 PROFILE OF THE CAM4.1 Boolean operationAlthoughthepitchcurveoftheplanetcamisaclosedcurve, it is not a simple plane curve because of itsself-intersection (Figs 5 and 6). Given the analyticalplane curve RTias the generator curve, the offsetsto RTiat distance rzare the curves defined byRIi(t) RTi(t)C0rzni(t)ROi(t) RTi(t)rzni(t)t 0, TC138, i 1, 2,. ,z(13)where niis the unit normal vector to RTi, and RIiand ROirepresent the interior and exterior offset,respectively. If the pitch curve of the planet camwas a simple curve, the profile of the planet camwould be the interior offset curve RIi(in type I), orthe exterior offset curve ROi(in type II). Becauseself-intersection occurs in some pieces of the pitchcurve, the profile of the planet cam is composed ofcertain pieces on both the interior and exterioroffsets.To determine the profile of the planet cam, aBoolean algorithm on areas enclosed by simplecurves is introduced. Let AC1be the area enclosedby curve C1, and AC2be that of curve C2. Here,three types of Boolean operation are of interest:union of AC1and AC2, denoted as AC1AC2; andsubtraction of AC1and AC2, denoted as AC1AC2.Analgorithm called LOBO (loops of Boolean operation)is employed to calculate the profile of the cam.The LOBO algorithm applied here was reported byRohmfeld 15.By employing the Boolean operation, we derivethe expressions of the cam profile for each type. Asthe self-intersection also occurs in the offsets of thepitch curve, we first divide the offsets into twoparts: one is the area enclosed by the self-intersection pieces, we called as SI(in the interioroffset curve) and SO(in the exterior offset curve)the other is the area enclosed by the non-self-intersection pieces on the offsets, we called AI(in the interior offset curve) and AO(in the exterioroffset curve).For type I, the area enclosed by the cam profile TIis expressed by the subtraction of the union of SIand SOfrom the intersection of AIand AO.TI (AIAO)n(SISO) (14)For type II, the area enclosed by the cam profile TIIis expressed by the union of AI, AO, SI, and SO.TO AIAOSISO(15)Figures 7 and 8 show the cam profile of type Iand type II generated, respectively, from Figs 5 and6 by the Boolean operation mentioned earlier. InFig. 7, the radius of the rollers is calculated withKz 0.6 and in Fig. 8, Kz 0.5.Fig. 6 Pitch curve of type IIFig. 7 Cam profile (type I)Fig. 8 Cam profile (type II)690 Hao Wang, Ce Zhang, and Guanlong ChenProc. IMechE Vol. 219 Part C: J. Mechanical Engineering Science C16204#IMechE 2005at ZHEJIANG UNIVERSITY on January 5, 2013Downloaded from 4.2 Smoothness of the cam profileInthecam profile,thepoint that connects two piecesof the offsets, namely, the intersection point of RIiand ROi, became a cusp. Such a cusp is a weaknessin the profile, for its curvature is infinite and easilybroken. To eliminate the cusps, a Hermite curveis employed to replace the curves near the cusps.As several rollers are engaging with the camsimultaneously, the replacement will not affect theoutput of the mechanisms. Figure 9 shows thelocality of the areas near one of the cusps, in whichP0and P1are the points located in different sides ofthe cusp P. Given the end point P0and P1, and thetangent vector of the cam profile in these points, aHermite curve can be readily defined. Thus, thecurve P0P and PP1are removed from the cam profile,and the Hermite curve is embedded in it instead.Each cusp on the profile can be eliminated andreplaced by a particular piece of the Hermite curve.After this procedure, the cam profile is a simple,smooth, and continuous curve. Figure 10 shows thecam profile after the procedure mentioned earlier.5 MOTION ANIMATION OF THE MECHANISMFigures 11 and 12 show the animations of the plane-tary indexing mechanism (type I and type II, respect-ively); (a) shows the beginning of an intermittentmotion period; (b), (c), and (d) are the phases inthe motion period; (e) is the end of motion periodand also the beginning of the dwell period; (f) and(g) are in the dwell period; (h) is the end of thisintermittent motion period and the beginning ofthe next one.Fig. 11 Animation of the mechanism (type I)Fig. 9 Locality of a cusp Fig. 10 Cam profile after the smoothing procedureKHV indexing cam mechanism 691C16204#IMechE 2005 Proc. IMechE Vol. 219 Part C: J. Mechanical Engineering Scienceat ZHEJIANG UNIVERSITY on January 5, 2013Downloaded from 6 THE RETROGRESSED MECHANISMConsidering that V is fixed (Fig. 2), and the outputshaft is the sun gear b, the mechanism is a retro-gressed mechanism of the planetary mechanism(Fig. 1). Compared with an internal parallel indexingmechanism, the input shaft in such a retrogressedmechanism is H rather than the cam g, and there isno angular displacement of the cam g in anymotion period. In the motion process, the inputshaft H rotates at a uniform speed, there is noangular displacement on planet cam g, the rotationof the roller gear b is an intermittent motion thatyields the same law as the planetary mechanism.Figure 13 shows the animation of the retrogressedmechanism of type I (Fig. 11) in a motion period, inwhich (a) shows the beginning of an intermittentmotion period; (b), (c), and (d) are sequences of themotion period; (e) is the end of motion period andthe beginning of the dwell period; (f) and (g) are inthe dwell period; (h) is the end of this intermittentmotion period and the beginning of the next one.Fig. 12 Animation of the mechanism (type II)Fig. 13 Animation of the retrogressed mechanism692 Hao Wang, Ce Zhang, and Guanlong ChenProc. IMechE Vol. 219 Part C: J. Mechanical Engineering Science C16204#IMechE 2005at ZHEJIANG UNIVERSITY on January 5, 2013Downloaded from 7 PROTOTYPE OF THE MECHANISMA prototype of the mechanism (type I) has beenmade to test the feasibility of the mechanism.Figure 14 shows the photographs of the planetarycam, assembled pair of cam and rollers, andappearance of the prototype, respectively. The camis manufactured in a linear cutting machine, not anNC milling, as there are some grooves on the camprofile. The manufacture of the cam by linear cuttingis not very accurate, but it is enough to test themechanisms feasibility. The prototype achieved aspeed of 250 r/min driven by motor-belt chain.This prototype proved that the concept of theKHV indexing cam mechanism is feasible and suc-cessful. Another prototype has been manufacturedto test the performance of this mechanism such asthe positioning accuracy, highest speed, vibration,and noise. The report of the second prototypeperformance test will be presented later.8 CONCLUSIONSThe layout of the KHV indexing cam mechanismemploys a structure similar to a cycloid speedreducer. The mechanism can be designed into twodifferent types (type I and type II) according to thedifferent layout of the camroller pair. Fromconverting the output shaft V to a fixed element, aretrogressed type can be obtained, such a m

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