Results 171 to 180 of about 798 (216)

Modeling a harmonic drive gear transmission

[1993] Proceedings IEEE International Conference on Robotics and Automation, 2002
In order to capture the dynamic behavior of harmonic drives, dynamic models must include accurate representations of transmission friction, compliance, and kinematic error. Experimental observations are used to guide the development of a model to describe harmonic-drive operation.
Timothy Tuttle, Warren P. Seering
openaire   +2 more sources

Torsional rigidity of harmonic gear drives

Russian Engineering Research, 2016
A model is proposed for harmonic gear drives. The model takes into account that harmonic engagement involves multiple pairs and multiple zones and also takes account of the manufacturing and assembly errors, the deformation of the drive components, and the adjustment of the gaps in the engagement under load.
G. A. Timofeev, Yu. V. Kostikov
openaire   +1 more source

Kinematics and Enumeration of Combined Harmonic Drive Gearing

Journal of Mechanical Design, 2015
The combined harmonic drive (HD) gearing is a class of differential gears composed of traditional and HD gears. In this paper, the kinematic analysis and enumeration of these less known gear devices are discussed. In particular, a new graph-based method of kinematic analysis has been developed.
PENNESTRI', ETTORE, VALENTINI, PIER PAOLO   +1 more
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The Effects of Harmonic Drive Gears on Robot Dynamics

17th Design Automation Conference: Volume 2 — Computer-Aided Design, Mechanical Systems Simulation, and Analysis, Mechanisms, and Robotics, 1991
Abstract Mathematical models of the harmonic drive have been developed, and their effects on manipulator dynamics have been examined. The harmonic drive is modelled as a flexible gear with a high gear reduction ratio. The recursive Newton-Euler dynamic formulation is applied to deriving the system equations of motion that include the ...
Tsung-Chieh Lin, K. Harold Yae
openaire   +1 more source

On a Gearing Problem in Conventional Harmonic Drives With Involute Toothed Gear Set

Volume 8: 11th International Power Transmission and Gearing Conference; 13th International Conference on Advanced Vehicle and Tire Technologies, 2011
Circular pitches of flex spline teeth of a ‘Strain Wave Gearing’, also known as a ‘Harmonic Drive’, are deformed when the Strain Wave Generating Cam is inserted into the flex spline cup. In the present work the deformed pitch distances considering that flex spline teeth remain rigid while the rim deforms, are estimated.
Bikash Routh, Rathindranath Maiti
openaire   +1 more source

The Analysis And Design Of Harmonic Gear Drives

Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics, 2005
Harmonic gear drive, a compact mechanical device producing high mechanical advantage and speed reduction, has been used to accurately position the arms and wrists of robots. This device, operating on the principle of nonrigid body mechanicsr has been found to have positioning errors. Such errors, inherent in the drive, adversely affect the performance.
openaire   +1 more source

Torque control of harmonic drive gears with built-in sensing

IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200), 2002
Force control is an important segment of intelligent motion control systems. To provide a high quality force control, it is necessary to make a bandwidth of the system as high as possible. Force or torque sensing therefore should be built into the existing components of a system. We study a possibility to build torque sensing into a harmonic drive gear
I. Godler, M. Hashimoto
openaire   +1 more source

Elastic Kinematic and Geometric Model of Harmonic Gear Drives

Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 2008
The paper presents the first elastic meshing law and spatial elastic conjugation tooth profile for harmonic gear drives. The kinematics and geometry of harmonic drives that have a cup-type flexible spline with an oval wave generator is investigated. The deformation function of the neutral layer of a flexspline is investigated and calculation example is
Huimin Dong, Delun Wang, Kwun-Lon Ting
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Compensation for synchronous component of angular transmission errors in harmonic drive gearings

2010 11th IEEE International Workshop on Advanced Motion Control (AMC), 2010
This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined.
Masafumi Yamamoto, Makoto Iwasaki, Makoto Kainuma, Yoshifumi Okitsu, Kato Yuki, Kozo Sasaki, Toshio Yajima   +6 more
openaire   +1 more source

Modified Model Predictive Control for a Positioning Mechanism with Harmonic Drive Gear

2015 25th International Conference on Computer Theory and Applications (ICCTA), 2015
Servo actuators, mechanisms used to produce or control motion in mechanical systems, provided with harmonic drives have been widely used in many applications such as industrial precision positioning mechanisms. However, harmonic drives exhibit performance features more turbulent than that of conventional gear transmissions.
Esam H. Abdelhameed, Tarek Hassan Mohamed, Makoto Iwasaki   +2 more
openaire   +1 more source