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

Gravagno, Federico; Mucino, Victor H.; Pennestrı̀, Ettore

doi:10.1016/j.mechmachtheory.2016.05.005

Cited by 41 publications

(20 citation statements)

References 14 publications

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“…Further research led to the configuration curve defined by a four-term Fourier expansion equation defined by Ishikawa [ 3 ]. Gravagno et al [ 4 ] discussed and quantitatively evaluated the influence of the wave generator shape on the pure kinematic error of HD. The Résal curve, an ellipse and two conjugate arcs curves yield the lowest kinematic error.…”

Section: Introductionmentioning

confidence: 99%

Global Sensitivity Analysis of Chosen Harmonic Drive Parameters Affecting Its Lost Motion

et al. 2021

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The aim of the presented study was to perform a global sensitivity analysis of various design parameters affecting the lost motion of the harmonic drive. A detailed virtual model of a harmonic drive was developed, including the wave generator, the flexible ball bearing, the flexible spline and the circular spline. Finite element analyses were performed to observe which parameter from the harmonic drive geometry parameter group affects the lost motion value most. The analyses were carried out using 4% of the rated harmonic drive output torque by the locked wave generator and fixed circular spline according the requirements for the high accuracy harmonic drive units. The described approach was applied to two harmonic drive units with the same ratio, but various dimensions and rated power were used to generalize and interpret the global sensitivity analysis results properly. The most important variable was for both harmonic drives the offset from the nominal tooth shape.

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Section: Introductionmentioning

confidence: 99%

Global Sensitivity Analysis of Chosen Harmonic Drive Parameters Affecting Its Lost Motion

et al. 2021

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“…This error is primarily responsible for decreasing the performance and transmission of torque. Dong et al [1] and Gravagno et al [2] modeled and simulated kinematic error.…”

Section: Pt 10pt 1 Introduction To the Topic Of Harmonic Drive Gears 10ptmentioning

confidence: 99%

The Comparison of the Amount of Backlash of a Harmonic Gear System

et al. 2021

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This article presents a study of the amount of harmonic gear system backlash. The study shows a method for an effective measuring of the amount of backlash in harmonic gear systems. Given that this calculation tasks demand a lot of iterative operations, this article introduces a new method for creating 2D and 3D models of a harmonic gear system. At the same time, this study presents a new way of generating the geometry of a wave generator with a parametrically modified geometry. Introduction of the parametric model of a wave generator allows a rapid optimization of construction parameters, thus securing correct dimensioning and evaluation of the amount of backlash. When creating the computational model, operational characteristics were taken into consideration, therefore, the 2D and 3D computational models were created to correspond with real operation conditions to the greatest extent possible. The results of the analysis imply that the suggested method of examining the design parameters of the wave generator due to the harmonic gear system backlash is effective and correct. The benefit of this article is mainly to introduce a new dynamic computational model of a harmonic gear system and to optimize the construction parameters of the wave generator in line with the amount of backlash, which is manifested in the higher accuracy of the harmonic gear system. In the conclusion of this article we state our recommendations and acquired knowledge.

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“…The material and exploitation issues of the drive were presented (Dudley, 1962) as well as the examples of its application with a great focus on flexsplines. The issues related to the calculation of the load applied to the flexspline and strength calculations have been discussed in the monographs mentioned above as well as in other papers (Budzik et al, 2009;Gravagno et al, 2016;Kayabasi and Erzincanli, 2007). More recent papers include numerical analysis of the optimization of both -the parameters of a toothed rim as well as the shape of the body of a flexspline, mainly with the use of the FEM method (Folęga, 2015;Kikuchi et al, 2003;Kleiber and Zacharski, 1983) and the boundary element method (Folęga, 2009;Li, 2016).…”

Section: Introductionmentioning

confidence: 99%

The impact of the structural form on the stress distribution in a flexspline of a hermetic harmonic driver

Pacana

2020

Journal of Theoretical and Applied Mechanics

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This paper presents a comparative analysis with different models of the flexspline for a harmonic hermetic drive. The flexspline is a thin-walled construction, deforming during work, so its design is a very complicated process. The paper contains a strength analysis for some selected models of this gear. Calculations were performed using the finite element method (FEM) in ADINA. The work presents stress diagrams in longitudinal intersections for susceptible wheels of different shapes for direct comparison. Suggested changes in construction of the flexspline will increase durability of a welded hermetic gear.

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

Cited by 41 publications

References 14 publications

Global Sensitivity Analysis of Chosen Harmonic Drive Parameters Affecting Its Lost Motion

Global Sensitivity Analysis of Chosen Harmonic Drive Parameters Affecting Its Lost Motion

The Comparison of the Amount of Backlash of a Harmonic Gear System

The impact of the structural form on the stress distribution in a flexspline of a hermetic harmonic driver

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