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  • Pal-A 3 Axis
  • Pal-A SCARA
  • Pal-A 6 Axis
  • Pal-A Cylindrical SCARA
  • Gearbox (Speed Reducer)
    - Elacloid Drive® Gearbox Technology
  • Motion Control
    - Motion Control Technology
  • MINT Factory
    - A solution to build smart factory combining IoT technology with Pal series
  • Customizing Service
    - Robot and automation system development solution which is met user’s requirements
  • Download Center
    - Download product manuals and technical materials
  • FAQ
    - Product use and technical inquiry
  • Product Usage
    - Guide to basic usage
All-new concept gearbox
What is Gearbox?
The motors we use are usually very fast but have a weak force (rotating power). So, you must use the speed reducer to convert the motor power so that the robot can generate the required power. Therefore, the reducer is one of the essential parts of the robot and serves to determine the price and performance of the robot.
Elacloid Drive® overcoming the shortcomings of existing reducers
Elacloid Drive® (Elastic Deformation Cycloid Drive) is an internationally patented reducer developed by MINTROBOT in order to improve the miniaturization and productivity, which are disadvantages of the existing cycloid reducer. It is a completely new concept of reducer that improves mass productivity by establishing its own production process based on the principle of elastic tooth shape to overcome the loss of precision that may occur due to the miniaturization of the cycloid reducer.
Realize zero backlash using the principle of elastic teeth
A typical cycloid reducer can be driven only when there is a small tolerance (a few microns) between the inner and outer teeth, When miniaturizing it, the effect of this tolerance on the precision increases, and eventually loss of precision. To get around this problem, Elacloid Drive implements zero-backlash by completely removing the micro-tolerance and also applied an elastic tooth structure that allows the tooth shape to be elastically deformed.
+To : Nominal load torque of + direction
-To : Nominal load torque of - direction
Twist angle : The angular difference of the ouput of the reducer
B : The twist angle when the load torque reaches 0 from +To
B’ : The twist angle when the laod torque reaches 0 from -To
Hysteresis loss : The dirrerence between B and B’
High Precision
In order for the industrial robot to be able to move stably without vibration, there must be no shaking in the reducer used at the joint part of the robot, and for this purpose, a very precise reducer that can achieve precision within 3 arcmin (0.05°) is usually used. The Elacloid Drive achieves the precision required for industrial robots by implementing up to 1 armin (0.016°) precision.
Harmonic Drive
Cycloid Drive
Comparison of stress-strain analysis when the reducer is warped
Powerful Driving Torque
The Harmonic drive method can't endure a lot of force because the thin sheet that is elastically deformed is direct to torsion. In addition, it requires advanced heat treatment and material technology to endure a lot of power. However, the Cycloid drive reducer can endure much more power because basically two thick discs subjected to torsional directly.
Long Life
The life of the reducer is generally calculated using the L10 life of the bearing used inside the reducer. And bearing life is generally inversely proportional to speed and load. Elacloid Drive is designed to drive the life of the bearing at an optimized speed to ensure a long life. Therefore, it can be used for about 15,000 hours, which is about twice that of a Harmonic drive.
Aluminum Material
Plastic Material
Flexible Material
Existing reducers robot reducers generally have been using only steel material for high-precision machining of several microns. However, the 'Elacloid drive' utilizes an elastic tooth shape, it doesn't require the precision of the few microns that were previously required for. Therefore, it is possible to utilize various materials such as plastic and carbon thus, makes it possible to light-weight and automate production.