A novel method based on mechanical analysis for the stretch of the neutral line of the flexspline cup of a harmonic drive

Chen, Xiaoxia; Liu, Yusheng; Xing, Jingzhong; Lin, Shaohui; Ma, Ming

doi:10.1016/j.mechmachtheory.2014.01.014

Cited by 32 publications

(15 citation statements)

References 11 publications

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“…[3,7]), in this analysis the FS is considered as a planar constant length line profile with bending elasticity. This assumption is supported by the results presented by Chen et al [24] where the estimated average circumferential strain is of the order of 10 −5 .…”

Section: Computation Of Pure Kinematic Errorsupporting

confidence: 65%

Influence of wave generator profile on the pure kinematic error and centrodes of harmonic drive

Gravagno

Mucino

Pennestrı̀

2016

Mechanism and Machine Theory

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Section: Computation Of Pure Kinematic Errorsupporting

confidence: 65%

Influence of wave generator profile on the pure kinematic error and centrodes of harmonic drive

Gravagno

Mucino

Pennestrı̀

2016

Mechanism and Machine Theory

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“…In torque measurement, 1 i d (i=1,2,…,10) could be calculated online by (17), which are subsequently used to obtain the torque measurements by (13). Experimental result is shown as Fig.…”

Section: Methodsmentioning

confidence: 99%

“…The aforesaid theoretical analysis shows that the layout optimization requires the knowledge of flexspline's dynamic strain with load. As the engagement of the harmonic drive is quite complex, most mechanics theoretical analysis of the flexspline so far are under the approximation assumption that the flexspline is a shell without teeth, thus the result is not precise enough [13]. To get exact dynamic strain, the finite element method (FEM) is an effective way [14].…”

Section: A Analysis Of the Flexspline's Dynamic Strainmentioning

confidence: 99%

Development and optimization of the build-in torque sensor for harmonic drive

Wang

Cui

et al. 2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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The development of human-robot cooperation and the demand of high-precision robot control have increasingly spurred the usage of joint torque sensors. A build-in torque sensor for harmonic drive is researched in this paper, which utilizes strain gauges attached to the surface of the flexspline to measure torque. As the strain signal is significantly affected by the rotation of wave generator, positioning error of strain gauges and uneven distribution of the load torque, a new torque sensing technique with on-line torque estimation is developed to eliminate disturbance and achieve better measurement precision. Meanwhile, the dynamic strain of flexspline is obtained by finite element method, which is utilized to optimize the layout of strain gauges for lower disturbance. The proposed torque sensing technique is implemented and verified by experimental results.compliant elements adds mechanical components, makes the joint structure more complex and increases the joint elasticity.

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“…Previous work by Chen et al. 4 has noted a novel method based on mechanical analysis for the stretch of the neutral line of the flexspline and harmonic drive. The motion error and friction of the flexspline will lead to the energy consumption, torque generation, and speed fluctuations.…”

Section: Introductionmentioning

confidence: 99%

Vibration control of a rotating two-connected flexible beam using chattering-free sliding mode controllers

Qiu

2015

Proceedings of the Institution of Mechanical Engineers, Part G:

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Two-connected flexible beam systems with rotating boundary conditions are widely used in spacecraft applications. The dynamics equation of the two-connected flexible beam system is obtained by using finite element method. Considering the connected parts in the rotating two-connected flexible beam, plate elements are used instead of beam elements for the finite element analysis. The optimal placement of piezoelectric sensors/actuators is studied using a singular value decomposition method. To suppress the excited vibration, a kind of fast terminal sliding mode (FTSM) control algorithm and a fuzzy fast terminal sliding mode (FFTSM) control algorithm are investigated. Also, a local linearization switching construction and a fuzzy logical adaptation system for feedback control gain are brought in FFTSM, to achieve a balance between the control performance and chattering phenomenon. A rotating two-connected flexible beam system is built up to simulate the vibration and control performance of the space flexible manipulator and solar panel under the expending and locking situation. Experiments on set-point vibration control, respectively driven by PZT actuators and AC motor torque using harmonic drive gear as speed reducer are conducted by utilizing the designed control algorithms, compared with the classical proportional derivative control algorithm. The experimental results demonstrate that the designed FTSM and FFTSM algorithms can significantly improve the vibration reduction performance and eliminate the chattering phenomenon effectively.

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A novel method based on mechanical analysis for the stretch of the neutral line of the flexspline cup of a harmonic drive

Cited by 32 publications

References 11 publications

Influence of wave generator profile on the pure kinematic error and centrodes of harmonic drive

Influence of wave generator profile on the pure kinematic error and centrodes of harmonic drive

Development and optimization of the build-in torque sensor for harmonic drive

Vibration control of a rotating two-connected flexible beam using chattering-free sliding mode controllers

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