Rotational transmission error of harmonic drive device.

In the present work, a prototype of a joint element to be used in lightweight and compact joints for tall humanoid robots is investigated. The newly developed element consists of a harmonic drive gearing device, a multi axis mechanism and a resin bush. Bushes produced from two kinds of bush materials: poly-ether-ether-ketone (PEEK) and polyacetal (POM) were tested. Furthermore, two testing machines to evaluate the joints were constructed: for the power input-output transmission error measurement and for the investigation of the influence of walking-load on bush wear.

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Design and Transmission Error Analysis of CBR Reducer

Journal of Mechanical Design ◽

10.1115/1.4043368 ◽

2019 ◽

Vol 141 (8) ◽

Cited By ~ 1

Author(s):

Xiaoxiao Sun ◽

Liang Han ◽

Jian Wang

Keyword(s):

Contact Force ◽

Mathematic Model ◽

Transmission Error ◽

Hysteresis Curve ◽

Harmonic Drive ◽

Tooth Contact Analysis ◽

Advantages And Disadvantages ◽

Modified Method ◽

Rv Reducer ◽

Testing Bench

A new one-stage type cycloid drive reducer named China Bearing Reducer (CBR) is designed and its tooth contact analysis is investigated. First, the CAD model is built in SolidWorks and the structure of CBR reducer is introduced. Its advantages and disadvantages are compared with rotor vector (RV) reducer and harmonic drive reducer. Second, the mathematic model of cycloid profile and modified cycloid profile are established based on gear meshing and differential geometry, and the tooth shapes of three different modifications are compared with CBR25 reducer. Third, the conventional TCA method is described and a new TCA method by using discretized points is proposed to calculate transmission error and contact force of cycloid drive. Both the methods are used to compute the unloaded transmission error of CBR25 reducer to compare the computational efficiency. Finally, three different modified methods of tooth profile are investigated by using the new TCA method to calculate transmission error and contact force of CBR25 reducer, and the results show that the negative isometric and negative offset modified method is best for CBR25 reducer to reduce transmission error and contact force. The prototype of CBR25 reducer is manufactured and the transmission error and hysteresis curve are measured by using a testing bench. The results show that the new TCA method can be used to calculate transmission error and help better design the CBR reducer.

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Modeling and compensation for angular transmission error of harmonic drive gearings in high precision positioning

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics ◽

10.1109/aim.2009.5229935 ◽

2009 ◽

Cited By ~ 14

Author(s):

Makoto Iwasaki ◽

Masafumi Yamamoto ◽

Hiromu Hirai ◽

Yoshifumi Okitsu ◽

Kozo Sasaki ◽

...

Keyword(s):

High Precision ◽

Transmission Error ◽

Harmonic Drive ◽

Precision Positioning

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A Refined Dynamic Model of Harmonic Drive and Its Dynamic Response Analysis

Shock and Vibration ◽

10.1155/2020/1841724 ◽

2020 ◽

Vol 2020 ◽

pp. 1-13

Author(s):

Xian Zhang ◽

Tao Tao ◽

Gedong Jiang ◽

Xuesong Mei ◽

Chuang Zou

Keyword(s):

Dynamic Response ◽

Dynamic Performance ◽

Transmission Error ◽

Step Response ◽

Response Analysis ◽

Harmonic Drive ◽

Proposed Model ◽

Experimental Apparatus ◽

Series Of Experiments ◽

Critical Components

To highlight the key factors which influence the dynamic performance of the harmonic drive, a refined harmonic drive model considering nonlinear stiffness, kinematic error, and friction of the critical components is established. A dedicated experimental apparatus based on double motor twisting is constructed to measure the characteristics of harmonic drive, and the attribute parameters of the proposed model are identified. A series of experiments on the dynamic transmission error at different driving velocities are carried out to verify the proposed model. Based on the proposed model, the influence of different component stiffness on the velocity step response of the harmonic drive is analyzed. The results show that the influence of the component stiffness on the system dynamic response is more significant at high driving velocity, the increase of the stiffness of each component will decrease the dynamic transmission accuracy of harmonic drive, and the bearing radial stiffness is the most sensitive parameter to system’s dynamic response among all the stiffness factors.

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Modeling and Compensation for Angular Transmission Error in Harmonic Drive Gearings (1st Report)

Journal of the Japan Society for Precision Engineering ◽

10.2493/jjspe.76.1206 ◽

2010 ◽

Vol 76 (10) ◽

pp. 1206-1211 ◽

Cited By ~ 1

Author(s):

Masafumi YAMAMOTO ◽

Makoto IWASAKI ◽

Yoshifumi OKITSU ◽

Kozo SASAKI ◽

Toshio YAJIMA

Keyword(s):

Transmission Error ◽

Harmonic Drive

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Modeling and compensation for angular transmission error in harmonic drive gearings

IEEJ Transactions on Electrical and Electronic Engineering ◽

10.1002/tee.20393 ◽

2009 ◽

Vol 4 (2) ◽

pp. 158-165 ◽

Cited By ~ 11

Author(s):

Masafumi Yamamoto ◽

Makoto Iwasaki ◽

Hiromu Hirai ◽

Yoshifumi Okitsu ◽

Kozo Sasaki ◽

...

Keyword(s):

Transmission Error ◽

Harmonic Drive

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Three-Dimensional Spatial Meshing Quality Pre-Control of Harmonic Drive Based on Double-Circular-Arc Tooth Profile

Volume 10: 2019 International Power Transmission and Gearing Conference ◽

10.1115/detc2019-97228 ◽

2019 ◽

Author(s):

Faxiang Xie ◽

Jing Zhang ◽

Yinan Han ◽

Canyuan Wu ◽

Zhengyang Zhao ◽

...

Keyword(s):

Three Dimensional ◽

Transmission Error ◽

Tooth Profile ◽

Test Method ◽

Harmonic Drive ◽

Circular Arc ◽

Current Harmonic ◽

Profile Modification ◽

Tooth Profile Modification ◽

Modification Method

Abstract In the current harmonic drive tooth profile design, the three-dimensional spatial spline tooth meshing is not fully considered, which results in problems such as inconsistence of harmonic gearing backlash, low loading capacity, low transmission accuracy and even meshing tooth profile interference in actual machining of the harmonic reducer. Based on this, this paper proposes a harmonic drive meshing quality test method at extremely low input speed based on tooth profile of double–circular-arc profile (DCTP). And combined with the theory of spatial multi-tooth meshing, the corresponding pre-control of different tooth profile modification is analyzed. The optimized non-interference three-dimensional spatial tooth profile modification method is proposed, which effectively reduces its transmission error.

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Research on Prediction Method of Transmission Accuracy of Harmonic Drive

Volume 10: 2019 International Power Transmission and Gearing Conference ◽

10.1115/detc2019-97214 ◽

2019 ◽

Author(s):

Qiushi Hu ◽

Zhifeng Liu ◽

Ligang Cai ◽

Congbin Yang ◽

Tao Zhang ◽

...

Keyword(s):

Prediction Model ◽

Prediction Method ◽

Transmission Error ◽

Rayleigh Distribution ◽

Tooth Profile ◽

Harmonic Drive ◽

Accuracy Control ◽

Profile Error ◽

Comparison Results ◽

Measuring Machine

Abstract Harmonic drive is an indispensable device for robotic joint, and transmission accuracy of harmonic drive is one of its most important performance indexes. Due to the unsystematic research on the accuracy of harmonic drive, the accuracy consistency of harmonic drive is poor, and the prediction accuracy is seriously insufficient. This study focuses on modeling of transmission error system and prediction of transmission accuracy. Through tracing analysis of transmission error of harmonic drive, a transmission error model including manufacturing, assembly and tooth profile error is established. Based on Rayleigh distribution of error sources and considering multi-tooth meshing effect of harmonic drive, the transmission accuracy prediction model is built. Tooth profile error is measured by gear measuring center, dimension error and geometric tolerance are gauged by coordinate measuring machine. The transmission accuracy of three types harmonic drive (SHG14, SHG20 and SHG25) is measured by harmonic transmission error test bench under rated conditions. The comparison results show that the difference between the predicted and experimental values is less than 15%, which proves the validity of the accuracy prediction model. Prediction method play a crucial role for accuracy control of harmonic drive system.

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Research on a Transmission Error-Testing System of Harmonic Drive Based on LabVIEW

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.333-335.1797 ◽

2013 ◽

Vol 333-335 ◽

pp. 1797-1800

Author(s):

Jian Cheng Gao ◽

Hong Bing Xin ◽

Deng Qi Cui ◽

Long Liu ◽

Yue Fei Xin ◽

...

Keyword(s):

Transmission Error ◽

Testing System ◽

Harmonic Drive ◽

Testing Laboratory ◽

Structural Composition ◽

Input And Output ◽

Laboratory Bench ◽

Angle Data ◽

Research And Design ◽

Error Testing

On the basis of a transmission error-testing laboratory bench which is designed in advance, the research and design of a transmission error-testing system of harmonic drive are carried on. The structural composition and test principle of this testing system are introduced. Based on the software, LabView2009, the design of the transmission error-testing system of harmonic drive is finished. With the help of this testing system, the following purposes can be realized. The input and output angle data of the harmonic drive can be acquired, its transmission error is capable of being analyzed and the data will be able to be stored.

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