Abstract: A cycloidal reducer includes a reduction unit configured to reduce a torque input and an output unit configured to transfer the reduced output to the outside. A cycloidal rotor that is one constituent element of the reduction unit has a tooth-type protrusion formed in the shape of a circular arc. Thus, the level of difficulty of process is decreased more than when the tooth-type protrusion in the related art is formed in the shape of a broken line. In addition, rotor pins are accommodated in through-holes, respectively, that are equally spaced in the cycloidal rotor. A bushing is formed that fills a gap between the through-hole and the rotor pin is formed in order for the rotor pin to stably transfer rotational power. Accordingly, the advantage of effectively distributing a load and stably transferring a reduction torque to the outside is provided.

Abstract: A reducer includes a reduction unit configured to reduce an input torque, and an output unit configured to be supplied with a preset reduction torque through the reduction unit and to transfer an output torque to the outside. The reduction unit includes an input shaft configured to be supplied with the input torque, a cycloidal disc arranged on an outer circumferential surface of the input shaft in an eccentrically rotatable manner, a tooth-type protrusion being formed along a circumference of an edge of the cycloidal disc, a hollow housing configured to accommodate the cycloidal disc and including a plurality of inner pins arranged to be spaced a predetermined distance apart from each other along a circumference of an inner circumferential surface of the hollow housing in a manner that possibly comes into contact with the tooth-type protrusion on the cycloidal disc, and a plurality of rolling pins coupled to the cycloidal disc and having a cylindrical structure.

Abstract: Proposed is a reducer including a reduction unit configured to reduce an input torque, and an output unit configured to be supplied with a preset reduction torque through the reduction unit and to transfer an output torque to the outside, wherein the reduction unit includes an input shaft configured to be supplied with the input torque, a cycloidal disc arranged on an outer circumferential surface of the input shaft in an eccentrically rotatable manner, a tooth-type protrusion being formed along a circumference of an edge of the cycloidal disc, a hollow housing configured to accommodate the cycloidal disc and including a plurality of inner pins arranged to be spaced a predetermined distance apart from each other along a circumference of an inner circumferential surface of the hollow housing in a manner that possibly comes into contact with the tooth-type protrusion on the cycloidal disc, and a plurality of rolling pins coupled to the cycloidal disc and having a concentrically shaped cylindrical structure, whe

Abstract: The present disclosure relates to a cycloidal reducer. The cycloidal reducer according to the present disclosure includes a reduction unit configured to reduce a torque input and an output unit configured to transfer the reduced output to the outside. A cycloidal rotor that is one constituent element of the reduction unit has a tooth-type protrusion formed in the shape of a circular arc. Thus, the level of difficulty of process is decreased more than when the tooth-type protrusion in the related art is formed in the shape of a broken line. Accordingly, the advantage of increasing the productivity is provided. In addition, rotor pins are accommodated in through-holes, respectively, that are equally spaced in the cycloidal rotor. A busing is formed that fills a gap between the through-hole and the rotor pin is formed in order for the rotor pin to stably transfer rotational power. Accordingly, the advantage of effectively distributing a load and stably transferring a reduction torque to the outside is provided.

Abstract: According to the present invention, a method comprising: (a) calculating, by an admission control program, a parameter for scheduling a pipeline using a maximum allowable period and an execution time for each of N motion tasks, wherein the parameter includes an optimal periodic value, a task offset and an input/output offset for each of the N tasks; (b) generating, by a coordinator program, N motion tasks, wherein one of the N motion tasks is determined to be a reference task, and the other is determined to be a non-reference task; (c) allowing, by the reference task and the non-reference task, an operating system to generate a task wakeup timer and an input/output (I/O) initiating timer; and (d) setting, by the non-reference task, a task offset and an input/output offset for an own timer on the basis of the task wakeup timer of the reference task.

Abstract: According to the present invention, a method comprising: (a) calculating, by an admission control program, a parameter for scheduling a pipeline using a maximum allowable period and an execution time for each of N motion tasks, wherein the parameter includes an optimal periodic value, a task offset and an input/output offset for each of the N tasks; (b) generating, by a coordinator program, N motion tasks, wherein one of the N motion tasks is determined to be a reference task, and the other is determined to be a non-reference task; (c) allowing, by the reference task and the non-reference task, an operating system to generate a task wakeup timer and an input/output (I/O) initiating timer; and (d) setting, by the non-reference task, a task offset and an input/output offset for an own timer on the basis of the task wakeup timer of the reference task.

Abstract: A master device for calculating a synchronized actuation time for an N number of slave devices (N being an integer greater than or equal to 2) includes: a transmitting part configured to transmit a request message a K number of times (K being an integer greater than or equal to 2) to each of the N number of slave devices, where the request message includes an actuation command; a receiving part configured to receive a reply message from each of the N number of slave devices, where the reply message includes information on a K number of end-to-end delay times; and an absolute-time calculating part configured to calculate an absolute time for concurrently actuating the N number of slave devices by using the information on the K number of end-to-end delay times received from each of the N number of slave devices.

Abstract: A master device for calculating a synchronized actuation time for an N number of slave devices (N being an integer greater than or equal to 2) includes: a transmitting part configured to transmit a request message a K number of times (K being an integer greater than or equal to 2) to each of the N number of slave devices, where the request message includes an actuation command; a receiving part configured to receive a reply message from each of the N number of slave devices, where the reply message includes information on a K number of end-to-end delay times; and an absolute-time calculating part configured to calculate an absolute time for concurrently actuating the N number of slave devices by using the information on the K number of end-to-end delay times received from each of the N number of slave devices.