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Modeling of Transmission Compliance and Hysteresis Considering Degradation in a Harmonic Drive.
- Source :
- Applied Sciences (2076-3417); 1/15/2021, Vol. 11 Issue 2, p665, 17p
- Publication Year :
- 2021
-
Abstract
- Transmission compliance and hysteresis behaviors are associated with harmonic drives. The experimental observation of a harmonic drive showed that these behaviors are significantly degraded with increasing service time, and their accurate modeling is expected to improve the performance of the control system of harmonic drive-based devices such as robot manipulators. In this paper, a new model is proposed to capture transmission compliance and hysteresis and their degradation. The phenomenon is represented through a combination of the nonlinear stiffness component and the micro-sliding friction in the tooth engagement area. The proposed model considered the multi-tooth meshing and the interference effects of the reducer. The parameters of the model were identified using optimization techniques. Numerical simulations and experimental data using a specialized harmonic drive test device were compared to demonstrate the proposed model. [ABSTRACT FROM AUTHOR]
- Subjects :
- HARMONIC drives
MATHEMATICAL optimization
COMPUTER simulation
HYSTERESIS
Subjects
Details
- Language :
- English
- ISSN :
- 20763417
- Volume :
- 11
- Issue :
- 2
- Database :
- Complementary Index
- Journal :
- Applied Sciences (2076-3417)
- Publication Type :
- Academic Journal
- Accession number :
- 148343217
- Full Text :
- https://doi.org/10.3390/app11020665