Condition-Based Monitoring on High-Precision Gearbox for Robotic Applications

Table 1

Nabtesco RV-42N components.

Element	Count (total number)
Input gear	1
Spur gear	3
RV gear	2
ACBBs	2
CRBs	6
TRBs	6
Input gear teeth (Z1)	16
Spur gear teeth (Z2)	50
RV gear undulations (Z3)	39
Internal pins (Z4)	40