A High-Fidelity Harmonic Drive Model

Preissner, Curt; Royston, Thomas J.; Shu, Deming

doi:10.1115/1.4005041

Cited by 43 publications

(26 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Although, according to the results from the literature 5,10 and from our research, the performance of modelling the kinematic error using sine or cosine harmonics is acceptable, the mechanism whereby the kinematic error is introduced and its representation in the harmonic drive model is seldom discussed. Ghorbel 5 proposed an explanation for this error, as shown in Figure 15(a).…”

Section: Test Experiments and Attribute Evaluationmentioning

confidence: 83%

See 1 more Smart Citation

A harmonic drive model considering geometry and internal interaction

Zou

Tao

Jiang

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

A new harmonic drive model considering the geometry, internal interactions and assembly error of key parts is proposed in this paper. In this model, a single tooth pair is used to represent the transmission mechanism of harmonic drive. The meshing stiffness between the flexspline and the circular spline, the torsional stiffness of the flexspline cylinder, and the radial stiffness of the thin-walled ball bearing are included and formulated. The kinematic error is fitted using a lowvelocity test, and its generating mechanism is analysed. The friction of the harmonic drive is formulated at the tooth meshing section and at the ball bearing, where its parameters are identified based on experimental results. Based on the new model, velocity step simulations are conducted. For comparison, velocity step experiments at eight different velocities from 60 to 3000 r/min are performed, and the simulation results are in good agreement with the experimental results. The new model reveals the dynamic behaviour of the harmonic drive system; therefore, it will be useful for the dynamic design and precision control of harmonic drive systems.

show abstract

Section: Test Experiments and Attribute Evaluationmentioning

confidence: 83%

“…Most researchers 4,5,10,11 have modelled the kinematic error using experimental data. Because kinematic error is caused by manufacturing or assembly error, it must be obtained through careful experimentation at low, uniform driving velocities.…”

Section: Introductionmentioning

confidence: 99%

A harmonic drive model considering geometry and internal interaction

Zou

Tao

Jiang

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…Please see Ref. [34] for a detailed dynamic model this harmonic drive. Note that the rotary actuator attachment mount on upper platform is also electronically adjustable (refer Fig.…”

Section: Active Control Actuatormentioning

confidence: 99%

Design of a Reconfigurable Dynamic Testbed for Co-Design Method Validation

Deshmukh

Lohan

Allison

2017

Volume 2A: 43rd Design Automation Conference

View full text Add to dashboard Cite

Physical testing as a technique for validation of engineering design methods can be a valuable source of insights not available through simulation alone. Physical testing also helps to ensure that design methods are suitable for design problems with a practical level of detail, and can reveal issues related to interactions not captured by physics-based computer models. Construction of physical and testing of physical prototypes, however, is costly and time consuming so it is not often used when investigating new design methods for complex systems. This gap is addressed through an innovative testbed presented here that can be reconfigured to achieve a range of different prototype design properties, including kinematic behavior and different control system architectures. Thus, a single testbed can be used for validation of numerous design geometries and control system architectures. The testbed presented here is a mechanically and electronically reconfigurable quarter-car suspension testbed with nonlinear elements that is capable of testing a wide range of both optimal and sub-optimal design prototypes using a single piece of equipment. Kinematic suspension properties can be changed in an automated way to reflect different suspension linkage designs, spring and damper properties can be adjusted in real time, and control system design can be changed easily through streamlined software modifications. While the specific case study is focused on development of a reconfigurable system for validation of codesign methods, the concept extends to physical validation using reconfigurable systems for other classes of design methods.

show abstract

“…Tjahjowidodo et al (2006Tjahjowidodo et al ( , 2013 analyzed the nonlinear torsion characteristic of harmonic drive based on Maxwell model. Preissner et al (2012) proposed Preisach model to describe the hysteresis characteristic of harmonic reducer and used MRC model to identify the weight function. Ruderman et al (2012Ruderman et al ( , 2014 established the hysteresis model of harmonic reducer based on Bouc-Wen-like model and 2SEP friction model.…”

Section: Introductionmentioning

confidence: 99%

Dynamic measurement of the lost motion of precision reducers in robots and the determination of optimal measurement speed

Shi

et al. 2019

JAMDSM

View full text Add to dashboard Cite

A precision reducer is the core component in an industrial robot and largely determines the performance of a robot. Lost motion is a key index of the performance of precision reducers and its measurement and evaluation are the basis for improving the performance of precision reducers. The dynamic measurement of the lost motion is affected by load torque and speed, but there is no uniform standard or scientific basis for measurement speed, thus leading to the deviations in measurement results. In this paper, the principle of the dynamic measurement of the lost motion of precision reducers was firstly introduced and the method of separating the geometric lost motion based on optimal measurement speed was put forward. Then, according to the Stribeck friction effect of precision reducers, the method of determining the optimal measurement speed was proposed and the calculation model of the optimal measurement speed was established. Finally, taking the RV reducer as an example, the measurement experiment was carried out. The friction torque of the RV reducer was the least and the mean value of the measured geometric lost motion was the least under the optimal measurement speed, thus verifying the proposed method.

show abstract

A High-Fidelity Harmonic Drive Model

Cited by 43 publications

References 15 publications

A harmonic drive model considering geometry and internal interaction

A harmonic drive model considering geometry and internal interaction

Design of a Reconfigurable Dynamic Testbed for Co-Design Method Validation

Dynamic measurement of the lost motion of precision reducers in robots and the determination of optimal measurement speed

Contact Info

Product

Resources

About