HARMONIC DRIVE DRIVEN BY A PNEUMATIC STEPPER MOTOR

摘要

A pneumatic stepper motor weight actuator (7) captures the advantages of polymeric harmonic gears while occupying less space and eliminating the problems associated with air entrapment in the stator grooves (31, 49). Air entrapment is eliminated by providing orificed air passages (47) from the bottom of the longitudinal stator grooves (31) to the center stator hole (45). Advantageously, the actuator (7) includes a rigid gear (23) comprising a toothed polymeric sleeve (61) adhesively bonded inside a metal cup (63).