Results 181 to 190 of about 772 (221)
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Elastic Kinematic and Geometric Model of Harmonic Gear Drives
Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 2008The 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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The Analysis And Design Of Harmonic Gear Drives
Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics, 2005Harmonic 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.
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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), 2002Force 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
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Modified Model Predictive Control for a Positioning Mechanism with Harmonic Drive Gear
2015 25th International Conference on Computer Theory and Applications (ICCTA), 2015Servo 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 +2 more
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Modelling and Analysis of Nonlinear Stiffness, Hysteresis and Friction in Harmonic Drive Gears
International Journal of Modelling and Simulation, 2008AbstractIn this paper, a mathematical model and its parameter identification scheme are proposed for harmonic drive gears with compliance and hysteresis. The hysteresis phenomenon in harmonic drives is described by a nonlinear differential equation representing the torque-displacement relationship across the flexspline of the harmonic drive.
R. Dhaouadi∗, F.H. Ghorbel∗∗
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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), 2010This 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 +6 more
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Synchronous operation for DC servo-motors with harmonic drive gearing
FUZZ-IEEE'99. 1999 IEEE International Fuzzy Systems. Conference Proceedings (Cat. No.99CH36315), 1999Synchronous operation is a control strategy that is widely applied to industrial field for high efficiency and precision. This paper proposes an active synchronous control algorithm by considering the weight value which is alteration of traditional synchronous operation algorithm, and simulates it for five DC servo-motors with harmonic drive.
null Yeon Tae Kim +2 more
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Modeling and compensation for angular transmission error in harmonic drive gearings
IEEJ Transactions on Electrical and Electronic Engineering, 2009AbstractThis paper presents a novel modeling and compensation approach for the angular transmission error in harmonic drive gearings. In the modeling, physical phenomena of the transmission error due to nonlinear elastic deformations in micro‐displacement region are especially dealt with, as well as the synchronous component which has been discussed in
Masafumi Yamamoto +5 more
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Study on the Gear Tooth Influence Coefficients of Flexspline of Harmonic Drive
Advanced Materials Research, 2013The gear teeth have influence on the stresses in flexspline, through the influence coefficients of gear tooth of flexspline. For the purpose of theoretically clarifying this influence, the profile of the gear tooth of the flexspline is simplified as two simple shapes of rectangle and trapezoid. The gear tooth influence on the stresses in the flexspline
Hong Bing Xin +7 more
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Kinematic Error, Compliance, and Friction in a Harmonic Drive Gear Transmission
19th Design Automation Conference: Volume 1 — Mechanical System Dynamics; Concurrent and Robust Design; Design for Assembly and Manufacture; Genetic Algorithms in Design and Structural Optimization, 1993Abstract In this experimental examination, the behavior of harmonic-drive kinematic error, compliance, and friction was characterized. In particular, kinematic error was confirmed to appear primarily at frequencies that were multiples of the wave-generator rotational velocity, and static stiffness measurements were found to yield a range
Timothy D. Tuttle, Warren P. Seering
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