Title :
Simulation of harmonic drive in precision robotic system
Author_Institution :
Electromech. Eng. Dept., Chengdu Electromech. Coll., Chengdu, China
Abstract :
A simulation model of precise harmonic drives transmission system including the effects of friction and transmission flexibility is developed in this paper. The friction in both motor and load side are analysed, nonlinear friction which include static, Coulomb and viscous friction are described as a function of position and velocity, the periodical part of friction is simulated by Fourier series. The simulation results are identifed by experiments. It shows the effectiveness of the proposed scheme.
Keywords :
Fourier series; drives; force control; friction; position control; robots; velocity control; Coulomb friction; Fourier series; friction effect; harmonic drives transmission system; nonlinear friction; position function; precision robotic system; static friction; transmission flexibility effect; velocity function; viscous friction; Frequency modulation; Friction; Harmonic analysis; Hysteresis motors; Load modeling; Mathematical model; Torque; friction; harmonic drive; modelling; precision system l; simulation;
Conference_Titel :
Natural Computation (ICNC), 2010 Sixth International Conference on
Conference_Location :
Yantai, Shandong
Print_ISBN :
978-1-4244-5958-2
DOI :
10.1109/ICNC.2010.5583640
