This paper presents a measurement design of speed torque of micro harmonic drive. On the basis of micro harmonic drive theory and the measuring method of speed torque of traditional gear an experimental system for measuring is put forward. Experimental equipment is determined. Instruments for measuring speed torque of traditional reducer can not be applied directly due to the minimal scale of micro harmonic drive. Measurement methods of micro harmonic drive and appropriate equipment are particularly important to be researched.
By introducing the experimental purpose, instruments and the main function of the planar five-bar parallel robot dynamics, this paper concluded the principle diagram of control system of the planar five-bar parallel robot. And the method and process of the experiment was detailed description. Through the analysis of vibration acceleration curve and frequency domain curve, which were obtained by the experimental data of the planar five-bar parallel robot end-effectors, the characteristics of time and frequency domain of the planar five-bar parallel robot were clearly shown.
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