Design aspects of harmonic drive gear and performance improvement of its by problems identification: A review

Routh, Bikash

doi:10.1063/1.5029592

Cited by 22 publications

(11 citation statements)

References 37 publications

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“…cycloidal or planetary gear units. As such, an HD represents the state-of-the-art and can deliver gear reduction ratios from 30:1 up to 800:1 [21]. Due to their large gear meshing area, HDs have a torque capacity comparable to conventional drive solutions of twice as much the volume size and three times as much its mass [22].…”

Section: Prosthesis Design and Materialsmentioning

confidence: 99%

CyberLimb: a novel robotic prosthesis concept with shared and intuitive control

Seppich

Tacca

Chao

et al. 2022

J NeuroEngineering Rehabil

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Background Existing assistive technologies attempt to mimic biological functions through advanced mechatronic designs. In some occasions, the information processing demands for such systems require substantial information bandwidth and convoluted control strategies, which make it difficult for the end-user to operate. Instead, a practical and intuitive semi-automated system focused on accomplishing daily tasks may be more suitable for end-user adoption. Methods We developed an intelligent prosthesis for the Cybathlon Global Edition 2020. The device was designed in collaboration with the prosthesis user (pilot), addressing her needs for the competition and aiming for functionality. Our design consists of a soft robotic-based two finger gripper controlled by a force-sensing resistor (FSR) headband interface, automatic arm angle dependent wrist flexion and extension, and manual forearm supination and pronation for a shared control system. The gripper is incorporated with FSR sensors to relay haptic information to the pilot based on the output of a neural network model that estimates geometries and objects material. Results As a student team of the Munich Institute of Robotics and Machine Intelligence, we achieved 12th place overall in the Cybathlon competition in which we competed against state-of-the-art prosthetic devices. Our pilot successfully accomplished two challenging tasks in the competition. During training sessions, the pilot was able to accomplish the remaining competition tasks except for one. Based on observation and feedback from training sessions, we adapted our developments to fit the user’s preferences. Usability ratings indicated that the pilot perceived the prosthesis to not be fully ergonomic due to the size and weight of the system, but argued that the prosthesis was intuitive to control to perform the tasks from the Cybathlon competition. Conclusions The system provides an intuitive interface to conduct common daily tasks from the arm discipline of the Cybathlon competition. Based on the feedback from our pilot, future improvements include the prosthesis’ reduction in size and weight in order to enhance its mobility. Close collaboration with our pilot has allowed us to continue with the prosthesis development. Ultimately, we developed a simple-to-use solution, exemplifying a new paradigm for prosthesis design, to help assist arm amputees with daily activities.

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Section: Prosthesis Design and Materialsmentioning

confidence: 99%

CyberLimb: a novel robotic prosthesis concept with shared and intuitive control

Seppich

Tacca

Chao

et al. 2022

J NeuroEngineering Rehabil

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“…The anti-wear properties such as load, velocity, and roughness were significantly affected by the DLC film. Surface roughness is speculated to be an important factor in harmonic drive lubrication improvement under couple stress fluid or magnetic fluid . Consequently, for wear resistance, surface modification is essential to maintain the base material in a suitable shape.…”

Section: Introductionmentioning

confidence: 99%

Formation of Robust Polydimethylsiloxane Coatings on the Flexspline Material and Mechanism of the Tribological Property Improvement

Zhang

Liu

et al. 2022

Langmuir

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Flexspline frictional degradation causes failure of harmonic drives. This study focused on the improvement of the flexspline tribological properties. Flexspline material 40Cr was modified with a robust polydimethylsiloxane (PDMS) coating. Etched and chemically modified films were utilized to enhance the organic PDMS coating–substrate link strength. Comparing modified and unmodified 40Cr, the surface friction coefficient decreased by 82.2%. Moreover, the modified 40Cr exhibited excellent load-bearing properties. The effects of speed and lubricant–coating interaction on the tribological properties were verified. This study provides an essential theoretical basis for improving the tribological performance of harmonic drives via soft coating modification.

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“…HD is noncircular gear (CS is circular, but FS is oval), and teeth difference between the mating teeth of FS and CS is only two. These make the HD gear much prone to interference (Routh, 2018). As the non-circularity of FS is less and teeth are minor in shape, most researchers did not consider interference contact or contact beyond the line of contact.…”

Section: Introductionmentioning

confidence: 99%

Three-dimensional tooth profile design method of harmonic drive considering the deformation difference of the flexspline

Zhang

2021

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Purpose This paper aims to improve the meshing effect of the gear teeth. It is recommended to analyze the deformation difference between the inner and outer surfaces of the flexspline. The purpose of this paper is to modify the profile of the flexspline based on the deformation difference to improve the transmission accuracy and operating life of the harmonic drive. Design/methodology/approach In this paper, ring theory is used to calculate the deformation difference of the inner and outer surfaces of the flexspline, and the actual tooth profile of the flexspline is corrected based on the deformation difference. Then, the flexspline is divided into multiple sections along the axial direction, so that the three-dimensional tooth profile of the flexspline is modified to improve the gear tooth meshing effect. Findings This paper proves the effect of the deformation difference between the inner and outer surfaces of the flexspline on the tooth backlash, which affects the transmission accuracy and life of the harmonic drive. It is recommended to modify the tooth profile of the flexspline based on the deformation difference, so as to ensure the tooth meshing effect. Originality/value This paper provides a new way for the optimization of the three-dimensional tooth profile design of the harmonic drive.

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Design aspects of harmonic drive gear and performance improvement of its by problems identification: A review

Cited by 22 publications

References 37 publications

CyberLimb: a novel robotic prosthesis concept with shared and intuitive control

CyberLimb: a novel robotic prosthesis concept with shared and intuitive control

Formation of Robust Polydimethylsiloxane Coatings on the Flexspline Material and Mechanism of the Tribological Property Improvement

Three-dimensional tooth profile design method of harmonic drive considering the deformation difference of the flexspline

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