DocumentCode :
1861956
Title :
Modeling a harmonic drive gear transmission
Author :
Tuttle, Timothy D. ; Seering, Warren
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
fYear :
1993
fDate :
2-6 May 1993
Firstpage :
624
Abstract :
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. This model is able to replicate many of the features observed in actual harmonic-drive dynamic response. Valuable insights are gained about the factors which govern harmonic-drive dynamic response. Using these insights to guide the gradual development of a harmonic-drive model, the tradeoffs between model accuracy and complexity are exposed. In particular, despite careful measurement and characterization of transmission friction, compliance, and kinematic error, model performance cannot be improved without acknowledging gear-tooth rubbing losses as well. When a model incorporating gear-tooth behavior is implemented, predicted results reproduce many of the complexities of the experimental dynamic response
Keywords :
electric drives; friction; kinematics; variable speed gear; compliance; dynamic models; gear-tooth rubbing losses; harmonic drive gear transmission; kinematic error; model accuracy; model complexity; transmission friction; DC motors; Friction; Gears; Geometry; Harmonic analysis; Kinematics; Monitoring; Power system modeling; Predictive models; Solid modeling;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
Type :
conf
DOI :
10.1109/ROBOT.1993.291889
Filename :
291889
Link To Document :
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