A harmonic drive model considering geometry and internal interaction

Zou, Chuang; Tao, Tao; Jiang, Gedong; Mei, Xuesong; Wu, Junhui

doi:10.1177/0954406215621097

Cited by 34 publications

(30 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…industrial robots, metal machine tools, and metal working machines) due to their high accuracy, high reduction ratio, high stability, high torque capacity, low noise, and low backlash. 25,45,46…”

Section: Literature Review and Existing Modeling Methodsmentioning

confidence: 99%

“…Zou et al. 45 derived a mathematical model of a harmonic drive that includes a formula for stiffness and analyzed kinematic error to examine the dynamic behavior of the harmonic drive system.…”

Section: Literature Review and Existing Modeling Methodsmentioning

confidence: 99%

“…

Figure 7.Harmonic drive model (sectional view) and schematic diagram of mathematical model (reproduced from Zou et al. 45 ): (a) sectional view of the harmonic drive; (b) mathematical model of harmonic drive considering transmission error. …”

Section: Literature Review and Existing Modeling Methodsmentioning

confidence: 99%

“…The parameters of compliance used in the harmonic drive model are derived from material mechanics theories rather than the experimental data. 45 The response of the output axis for a given angle of the input axis θi(t) can be determined. The calculation method is discussed later.…”

Section: Literature Review and Existing Modeling Methodsmentioning

confidence: 99%

“…This study presents kinematic error as a periodic positioning error function and a randomly variable error. According to a previously published method, 45,46,52 the kinematic error can be modeled using a Fourier series expansion function θke_sim where ω n is the angular frequency of the harmonic, k is the number of Fourier terms, and a n and b n are the coefficients of the harmonic components. The values of these coefficients can be found elsewhere.…”

Section: Literature Review and Existing Modeling Methodsmentioning

confidence: 99%

See 4 more Smart Citations

Investigation on the impact of nongeometric uncertainty in dynamic performance of serial and parallel robot manipulators

Tsai

Chan

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

Uncertainty in robot manipulations is a fundamental source of inaccuracy. Most nongeometric uncertainties is caused by the mechanical components of robot manipulators such as gear transmission systems and joints. This study integrates existing uncertainty models for practical applications of both three-degrees-of-freedom serial robot and parallel robot (closed-loop 5R mechanism). We first review the literature on uncertainty and existing methods for improving the precision of robot manipulation. For existing methods for uncertainty modeling: (1) the mathematical model of a harmonic drive considering kinematic error and compliance is derived; (2) joint clearance analysis that includes models of contact force and friction force is presented; (3) Archard’s wear model is used to estimate the effect of joint wear, based on which the geometry of joints is updated. Computer simulation is then used to demonstrate the application of the proposed method for serial and parallel robot manipulators. Simulations are used to examine the behavior of robot manipulators operating under uncertainty, with performance-evaluated positional error and trajectory error. The proposed method can provide some insight into nongeometric uncertainty in robot manipulations. The proposed methodology can be further used to improve the accuracy of robot manipulation under uncertainty by identifying uncertainty parameters.

show abstract

Section: Literature Review and Existing Modeling Methodsmentioning

confidence: 99%

Section: Literature Review and Existing Modeling Methodsmentioning

confidence: 99%

“…

Section: Literature Review and Existing Modeling Methodsmentioning

confidence: 99%

Section: Literature Review and Existing Modeling Methodsmentioning

confidence: 99%

Section: Literature Review and Existing Modeling Methodsmentioning

confidence: 99%

See 3 more Smart Citations

Investigation on the impact of nongeometric uncertainty in dynamic performance of serial and parallel robot manipulators

Tsai

Chan

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

Fault detection of harmonic reducer for construction robot based on adaptive state observer

Zhao,

Tong,

Zhang

et al. 2023

Journal of Field Robotics

View full text Add to dashboard Cite

The traditional manual masonry technology of building wall has the problems of low construction efficiency and poor safety. The research of automatic masonry robot has become an urgent need. Harmonic reducer is the key component to ensure the construction robot to achieve good quality construction. This paper takes the “flexible assembly” of harmonic reducer as the research object. The system dynamics model is simplified and the reducer fault mathematical model is established. An adaptive state observer with greater design freedom is designed based on the fault model. This paper introduces adaptive threshold and performs parameter optimization. When no fault occurs in the system, the distance between the adaptive threshold and the residual is small and higher than the residual. When the system fails, the residual is higher than the adaptive threshold. This method solves the fault leakage alarm of the traditional detection method with a fixed threshold. The effectiveness of the fault detection scheme under constant fault and time‐varying fault is verified by simulation. The results show that the adaptive threshold method can effectively reduce the false alarm whether the reducer has a constant fault or a time‐varying fault, which shows that the fault detection scheme designed in this paper is effective.

show abstract

An FFT-based Method for Analysis, Modeling and Identification of Kinematic Error in Harmonic Drives

Shi

Han

et al. 2019

Intelligent Robotics and Applications

View full text Add to dashboard Cite

A harmonic drive model considering geometry and internal interaction

Cited by 34 publications

References 17 publications

Investigation on the impact of nongeometric uncertainty in dynamic performance of serial and parallel robot manipulators

Investigation on the impact of nongeometric uncertainty in dynamic performance of serial and parallel robot manipulators

Fault detection of harmonic reducer for construction robot based on adaptive state observer

An FFT-based Method for Analysis, Modeling and Identification of Kinematic Error in Harmonic Drives

Contact Info

Product

Resources

About