An experimental study on modelling and identification of harmonic drive systems

Author

Taghirad, H.D. ; Bélanger, P.R.

Author_Institution

Dept. of Electr. Eng., McGill Univ., Montreal, Que., Canada

Volume

4

fYear

1996

fDate

11-13 Dec 1996

Firstpage

4725

Abstract

Despite widespread industrial application of harmonic drives, mathematical representation of their dynamics has not been fully addressed. In this theoretical/experimental study of harmonic drive systems a systematic way to capture and rationalize the dynamics of the system is proposed. Simple and accurate models for compliance, hysteresis, and friction are given and the model parameters are estimated from experiments using least square approximation. A statistical measure of consistency is defined, by which the reliability of the estimated parameter for different operating condition, as well as the accuracy and integrity of the proposed model is quantified. The validity of the modelling scheme is evaluated on two different harmonic drives by comparing the experimental and simulation results

Keywords

damping; drives; dynamics; friction; hysteresis; identification; least squares approximations; modelling; compliance; consistency; damping; dynamics; friction; harmonic drive systems; hysteresis; identification; least square approximation; modelling; parameter estimation; Damping; Friction; Gears; Hysteresis; Least squares approximation; Machine intelligence; Parameter estimation; Robotic assembly; Teeth; Vibrations;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.577625

Filename

577625