On The Reduction of Tosional Vibration of Strain Wave Gearing. 1st Report. High Precision Measurement of Rotational Transmission Error.

芳秀, 清沢; 新月, 張; 秀夫, 浅輪; 正名, 加藤; 克己, 井上

doi:10.1299/kikaic.64.3596

Cited by 10 publications

(3 citation statements)

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“…The lubrication performance of a strain wave transmission system in a space application was studied in [9,10]. The transmission errors of harmonic drive gears were studied in [11,12]. Torsional vibration caused by insufficient stiffness in the actuator of servo actuator, such as torsional vibration at the joint of robot in reference [13].…”

Section: Introductionmentioning

confidence: 99%

Research on Performance Test System of Space Harmonic Reducer in High Vacuum and Low Temperature Environment

Wang

Wan²,

Zhang

et al. 2020

Machines

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The harmonic reducer, with its advantages of high precision, low noise, light weight, and high speed ratio, has been widely used in aerospace solar wing deployment mechanisms, antenna pointing mechanisms, robot joints, and other precision transmission fields. Accurately predicting the performance of the harmonic reducer under various application conditions is of great significance to the high reliability and long life of the harmonic reducer. In this paper, a set of automatic harmonic reducer performance test systems is designed. By using the CANOpen bus interface to control the servo motor as the drive motor, through accurately controlling the motor speed and rotation angle, collecting the angle, torque, and current in real time, the life cycle test of space harmonic reducer was carried out in high vacuum and low temperature environment on the ground. Then, the collected data were automatically analyzed and calculated. The test data of the transmission accuracy, backlash, and transmission efficiency of the space harmonic reducer were obtained. It is proven by experiments that the performance data of the harmonic reducer in space work can be more accurately obtained by using the test system mentioned in this paper, which is convenient for further research on related lubricating materials.

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Section: Introductionmentioning

confidence: 99%

Research on Performance Test System of Space Harmonic Reducer in High Vacuum and Low Temperature Environment

Wang

Wan²,

Zhang

et al. 2020

Machines

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“…However, since the transmission systems inherently possess nonlinear attributes known as "angular transmission errors (ATEs)" due to structural errors and flexibility, the ideal control accuracy corresponding to the apparent resolution cannot be attained at the output of gear in devices. Although the HDGs can substantially reduce the amount of the errors because of their zero backlash, the ATEs due to kinematic errors and nonlinear elastic deformations in FS are still remained, resulting in the deterioration in the control performances [2], [3], [4]. In addition, mechanisms with HDGs generally excite resonant 1 Registered Trademark in Japan.…”

Section: Introductionmentioning

confidence: 99%

GA-based auto-tuning of vibration suppression controller for positioning devices with strain wave gearings

Yamamoto¹,

Okitsu²,

Iwasaki

2015

2015 IEEE International Conference on Mechatronics (ICM)

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This paper presents a practical genetic algorithm (GA)-based auto-tuning of vibration suppression controller for positioning devices with strain wave gearings. In the system design for the proposed GA-based tuning, guidelines of the fitness evaluation are set as the response bandwidth of the control system and the gain characteristics of load position for angular transmission error (ATEs) of the strain wave gearing. The proposed function autonomously tunes parameters of a positioning controller by GA, where mechanical vibrations due to the ATEs can be suppressed using resonant and all-pass filters. Effectiveness of the proposed approach has been verified using a prototype.

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“…However, since the transmission systems inherently possess nonlinear attributes known as 'angular transmission errors' due to the structural error and flexibility, the ideal control accuracy corresponding to the apparent resolution cannot be attained in the load side. Although the harmonic drive gearings can substantially reduce the amount of the errors because of their zero backlash, the angular transmission errors due to kinematic errors and nonlinear elastic deformations in FS are still remained, resulting in the deterioration in the control performance [2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Modeling and compensation for angular transmission error in harmonic drive gearings

Yamamoto

Iwasaki

Hirai

et al. 2009

IEEJ Transactions Elec Engng

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This paper presents a novel modeling and compensation approach for the angular transmission error in harmonic drive gearings. In the modeling, physical phenomena of the transmission error due to nonlinear elastic deformations in microdisplacement region are especially dealt with, as well as the synchronous component which has been discussed in a variety of conventional studies. On the basis of the analyses of the phenomena, the nonlinear elastic component is mathematically modeled by applying a modeling framework for the rolling friction with hysteresis attributes. The proposed transmission error model has been adopted to the positioning system as a model-based feedforward compensation manner. Experimental results using a prototype show the effectiveness of the proposed modeling and compensation. 

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On The Reduction of Tosional Vibration of Strain Wave Gearing. 1st Report. High Precision Measurement of Rotational Transmission Error.

Cited by 10 publications

References 0 publications

Research on Performance Test System of Space Harmonic Reducer in High Vacuum and Low Temperature Environment

Research on Performance Test System of Space Harmonic Reducer in High Vacuum and Low Temperature Environment

GA-based auto-tuning of vibration suppression controller for positioning devices with strain wave gearings

Modeling and compensation for angular transmission error in harmonic drive gearings

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