The Influence of the Cam Radial Displacement of a Harmonic Drive on the Angular Displacement of the Output Shaft

2018 ◽  
Author(s):  
И.Е. Люминарский ◽  
◽  
С.Е. Люминарский ◽  
Ю.С. Иванов ◽  
◽  
...  
Keyword(s):  
Radial Displacement ◽  
Angular Displacement ◽  
Output Shaft ◽  
Harmonic Drive

Design of a New Bearing on the Large Net Shell Roof Tank

2012 ◽  
Author(s):  
Zhiping Chen ◽  
Huan Gao ◽  
Wenjing Guo ◽  
Fucai Chen ◽  
Ji Wang ◽  
...  
Keyword(s):  
Stability Analysis ◽  
Radial Displacement ◽  
Angular Displacement ◽  
Live Load ◽  
Tank Wall ◽  
Storage Tanks ◽  
Partial Structure ◽  
New Type ◽  
Bearing Structure ◽  
Ansys Workbench

The structure of the plate rib roof can’t meet the need of the constantly enlarging storage tanks, thus more steel/aluminum net shell roofs have been used on the large storage tanks. The bearing between the roof and the tank wall is a key component, because it directly affects the strength and stability of the net shell roof. In this paper, a new type of net shell roof bearing structure is proposed in order to relieve the stress on the bearing and the net shell roof. The proposed structure has several features compared with the existing bearings: the net shell roof with the new bearing can allow a certain amount of radial displacement, and the bearing can also rotate within a certain angle. According to the actual loading status, strength and stability analysis of the overall net shell roof and the bearing’s partial structure are carried out respectively. The overall model of the net shell roof is established by ANSYS, and different boundary conditions are defined on the roof under two working conditions of “full-span live load” and “half-span live load”. Then the overall static strength calculation and stability analysis of the roof are completed. Based on the results of the overall analysis, the strength of the bearing’s partial model is analyzed in ANSYS Workbench. Research shows that when the net shell roof is under load, the roof is allowed to make radial displacement and the bearing to make angular displacement. Thus the burden on the bearing and the net shell roof is relieved, and the strength and stability of the overall roof meet the requirements. Moreover, many regions of the bearing can share the horizontal force, which helps to reduce the load on the bolts and improve the safety of the bearing structure. And the strength of the bearing meets the requirements.

Dynamics and Control of Instrumented Harmonic Drives

1995 ◽  
Vol 117 (1) ◽  
pp. 15-19 ◽  
Author(s):  
H. Kazerooni
Keyword(s):  
Transfer Function ◽  
Closed Loop ◽  
Research Work ◽  
High Ratio ◽  
Output Shaft ◽  
Harmonic Drive ◽  
Dynamics And Control ◽  
Radial Forces ◽  
And Control ◽  
Stationary Component

Since torque in harmonic drives is transmitted by a pure couple, harmonic drives do not generate radial forces and therefore can be instrumented with torque sensors without interference from radial forces. The installation of torque sensors on the stationary component of harmonic drives (the Flexipline cup in this research work) produce backdrivability needed for robotic and telerobotic compliant maneuvers [3, 4, 6]. Backdrivability of a harmonic drive, when used as torque increaser, means that the output shaft can be rotated via finite amount of torque. A high ratio harmonic drive is non-backdrivable because its output shaft cannot be turned by applying a torque on it. This article first develops the dynamic behavior of a harmonic drive, in particular the non-backdrivability, in terms of a sensitivity transfer function. The instrumentation of the harmonic drive with torque sensor is then described. This leads to a description of the control architecture which allows modulation of the sensitivity transfer function within the limits established by the closed-loop stability. A set of experiments on an active hand controller, powered by a DC motor coupled to an instrumented harmonic drive, is given to exhibit this method’s limitations.

scholarly journals Coupling dynamic modelling and parameter identification of a flexible manipulator system with harmonic drive

2019 ◽  
Vol 52 (1-2) ◽  
pp. 122-130 ◽  
Author(s):  
Bin Wang ◽  
Junqiang Lou
Keyword(s):  
Transfer Function ◽  
Dynamic Models ◽  
Angular Displacement ◽  
Binary Sequence ◽  
Dynamic Modelling ◽  
Flexible Manipulator ◽  
Harmonic Drive ◽  
Theoretical Derivation ◽  
Pseudorandom Binary Sequence ◽  
Coupling Dynamic

This paper formulates a coupling dynamic model for a flexible manipulator system with harmonic drive using experimental identification method. Parameters of the driven model of the harmonic joint and parameters of coupling vibration model of the flexible manipulator are identified. Accordingly, coupling dynamic models of the proposed system are obtained. Coulomb friction of the joint is identified by step current excitation and uniform rotation experiments at a low speed. Then, the transfer function model of the harmonic joint is established and identified by a pseudorandom binary sequence excitation. And predicted outputs of the obtained model are in good agreement with the experimental setup. Relationships between strain of the flexible manipulator and coupling torque are presented by theoretical derivation. Based on the theoretical model, transfer function from the angular displacement of the servo motor to the coupling torque is identified. Experimental results show this identified model match well with the proposed structure, both in the time and frequency domain. As a result, coupling dynamic modelling of the flexible manipulator system with harmonic drive is accomplished.

Load–Displacement Relationship of a Ball Bearing With Axial, Radial, and Angular Displacements for Both the Inner and Outer Rings

2016 ◽  
Vol 139 (1) ◽  
Author(s):  
Hiroyuki Ohta ◽  
Tomoya Sakaguchi ◽  
Masaharu Uchiumi
Keyword(s):  
Radial Displacement ◽  
Ball Bearing ◽  
Angular Displacement ◽  
Axial Displacement ◽  
Outer Ring ◽  
Ball Bearings ◽  
Outer Race ◽  
Load Displacement ◽  
Angular Displacements ◽  
Relationship Of

This paper deals with the load–displacement relationship of a ball bearing with axial, radial, and angular displacements for both the inner and outer rings. First, the expressions for the load–displacement relationship of ball bearings with any number of balls under the combined axial, radial, and moment loads were presented by using a system in which both the inner and outer rings are allowed to move in the axial, radial, and angular directions. Second, the presented expressions were compared with Jones' expressions (which are typical conventional expressions for the load–displacement relationship), then the range of application of Jones's expressions were elucidated. Third, the relative axial displacement, the relative radial displacement, and the relative angular displacement of a miniature ball bearing type 692 under the combined axial, radial, and moment loads were calculated. Finally, it was shown that the relative angular displacement in the case with no inner ring angular displacement is Ri/Ro times the relative angular displacement in the case with no outer ring angular displacement, in which Ri and Ro are the radii of the inner and outer race curvature center loci.

Upgrade of the Function Quality of the Machine Tools by the Oscillations Compensation

2014 ◽  
Vol 718 ◽  
pp. 116-121
Author(s):  
Darina Matiskova ◽  
Milan Balara
Keyword(s):  
Quality Control ◽  
Control System ◽  
Machine Tools ◽  
Output Shaft ◽  
Quality Control System ◽  
Harmonic Drive ◽  
Quality Of Control ◽  
Oscillatory Nature ◽  
Rejection Filter

The paper deals with the improvement of quality control system harmonic drive with servo applying the method of compensation torque oscillations. The method consists of applying the rejection block. Post documents the oscillatory nature of the system servo-harmonic transmission. Described the reduction block connected to this system suppresses the oscillation of torque, speed and position of the harmonic drive output shaft thereby improving the quality of the regulatory process.The papers solves the problem of torque oscillations of the system which consist of servomotor and harmonic drive. Described rejection filter connected to the input of the system damps oscillations and increases the quality of control.

Effects of Interfacial Reaction on the Radial Displacement of Oil by Alkaline Solutions

1990 ◽  
Vol 45 (2) ◽  
pp. 231-244 ◽  
Author(s):  
H. A. Nasr-El-Din ◽  
K. C. Khulbe ◽  
V. Hornof ◽  
G. H. Neale
Keyword(s):  
Interfacial Reaction ◽  
Radial Displacement ◽  
Alkaline Solutions

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

Introductory Rotational Dynamics

2018 ◽  
Author(s):  
Peter Mann
Keyword(s):  
Angular Momentum ◽  
Angular Displacement ◽  
Rigid Bodies ◽  
Rotational Dynamics ◽  
Circular Motion ◽  
Uniform Rotation ◽  
Chemical Systems ◽  
Inertial Frames ◽  
Rotating Frames ◽  
Special Case

This chapter discusses the importance of circular motion and rotations, whose applications to chemical systems are plentiful. Circular motion is the book’s first example of a special case of motion using the laws developed in previous chapters. The chapter begins with the basic definitions of circular motion; as uniform rotation around a principle axis is much easier to consider, it is the focus of this chapter and is used to develop some key ideas. The chapter discusses angular displacement, angular velocity, angular momentum, torque, rigid bodies, orbital and spin momenta, inertia tensors and non-inertial frames and explores fictitious forces as well as transformations in rotating frames.

Analysis of Vibration Caused by Electromagnetic Force on Stator End-Winding of Large Dry Submersible Motor

2013 ◽  
Vol 416-417 ◽  
pp. 428-432
Author(s):  
Li Shan ◽  
Xiao Wei Cheng ◽  
Yong Fang ◽  
Xiao Hua Bao
Keyword(s):  
Electromagnetic Field ◽  
Steady State ◽  
Transition State ◽  
Electromagnetic Force ◽  
Radial Displacement ◽  
Radial Direction ◽  
Axial Direction ◽  
Axial Displacement ◽  
Force Density ◽  
Submersible Motor

This paper investigates the vibration which caused by electromagnetic on the stator end-winding of the large dry submersible motor. Firstly, the electromagnetic field which included transition state and steady state is researched by 3-D FEM. Secondly, the electromagnetic force which lead to vibrations of end-winding is calculated by numerical method, it can be obtained that where endured the largest force density along the slant part of end-winding. Finally, the radial displacement and the axial displacement of the slant part which caused by vibrations is studied, the analysis results show that the axial displacement is larger than the amplitude of radial displacement. It indicates that the slant part of end-winding will be more easily damaged at axial direction than radial direction.

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