Rotational transmission error of harmonic drive device.

Yanabe, Shigeo; Ito, Akihiko; Okamoto, Atsushi; Yamaguchi, Toshiaki; Ikeda, Masaki; Fujita, Hiroshi

doi:10.1299/kikaic.56.148

Cited by 12 publications

(7 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The contact point is the intersection of the tooth profile and the action line, which is intimately associated with kinematic errors. 19,21 The tooth profile position of the CS and the deformed FS can be obtained by equations (8) and (14a). To obtain the action line of the meshing tooth, the instantaneous contact state model shown in Figure 6 was established.…”

Section: Determination Of Contact Points Of Meshing Teethmentioning

confidence: 99%

“…However, the mapping relationship was not discussed in the literature. Yanabe and Ito 21 stated that the pure kinematic error of harmonic drive gears was represented by the difference between the pitch errors of the FS and the CS teeth, independent of the wave generator profile. Furthermore, the average pitch error was applied instead of the individual pitch error because of the multi-tooth meshing characteristics of harmonic drive gears.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modeling of the pure kinematic error for harmonic drive gears with considering multiple meshing teeth

Zheng

Lou

Wang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

Kinematic error is an important indicator for evaluating the performance of harmonic drive gears. Previous methods for calculating the kinematic error only considered a single meshing tooth, the effect of other meshing teeth was compensated by the error homogenization coefficient. Because of the complex contact state of harmonic drive gears, the results of these methods are always inconsistent with experimental results. This paper proposes a mathematical model considering all meshing teeth to predict the pure kinematic error of harmonic drive gears. First, the contact points on each meshing tooth are determined, and the contact states of the flexspline and circular spline teeth are investigated. Then, the contact forces on the meshing teeth are obtained, and the pure kinematic error is calculated based on the relationship between the torque caused by the contact force on the left and the right tooth profiles. Finally, the mathematical model is validated by simulation and experimental methods. The study in this paper can not only be used to accurately predict the pure kinematic error but also is valuable in the selective assembly of higher precision harmonic drive gears.

show abstract

Section: Determination Of Contact Points Of Meshing Teethmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling of the pure kinematic error for harmonic drive gears with considering multiple meshing teeth

Zheng

Lou

Wang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…The relation between tooth profile and transmission errors is shown in the reference ( Yanabe et al, 1990). In the reference, the TEC of the CS or flexspline is half of the sum of the accumulative pitch error of the k th tooth of the CS or flexspline and accumulative pitch error of the (k+z c /2) th tooth of the CS or flexspline..The accumulative pitch error of the kth tooth of the CS or flexspline is calculated by the tooth profile's coordinate which is measured in experiment.…”

Section: 𝑒 𝛥𝐸 𝐸 𝐸 21mentioning

confidence: 99%

Influences of circular runout errors and processing parameters for slotting on the accuracy of harmonic reducer

Song

WANG

et al. 2022

JAMDSM

View full text Add to dashboard Cite

To investigate the influence of the manufacturing parameters on mesh behaviors for harmonic gear drive, the mathematical model of slotting the circular spline was established using kinematic method based on the tooth profile of the circular spline. Considering the circular runout errors from the machine tool and slotting cutter, the influences of two kinds of circular runout errors on the transmission error for harmonic gear drive were analyzed. Then, the influences of the slotting cutter teeth number and the slotting cycles of the circular spline on the transmission error were discussed. Two circular splines were machined by two types of slotting cutters with different teeth number to verify the theoretical analysis. Results show that the influence of the machine tool's circular runout error on the transmission error is more significant than that of the slotting cutter's circular runout error. For the slotting of the circular spline with one circle, the transmission error is the smallest when the tooth number of the slotting cutter is one third of that of the circular spline. For the slotting of the circular spline with two or three circles, the transmission error is the smallest when the tooth number of the slotting cutter is two thirds of that of the circular spline. However, the transmission error of harmonic gear is the largest when the tooth number of the slotting cutter is half of that of the circular spline.

show abstract

“…The synchronous component θ Sync is basically caused by kinematic errors in teeth of FS and CS, and assembling errors in shaft of gearing and load, which is synchronous to the relative rotation of WG, FS, and CS [4]. According to the conventional studies, θ Sync can be categorized into three components: θ TEM ; synchronous component to motor angle, θ TEL ; synchronous component to load angle, and θ TER ; synchronous component to relative angle of FS and WG [13,14]. In this research, however, only θ TEM is modeled as θ Sync (θ M ), since (i) the load angle cannot be detected for the positioning control, and (ii) θ TEL and θ TER can be negligible in the amount comparing to θ TEM .…”

Section: Modeling For Synchronous Componentmentioning

confidence: 99%

Modeling and compensation for angular transmission error in harmonic drive gearings

Yamamoto

Iwasaki

Hirai

et al. 2009

IEEJ Transactions Elec Engng

View full text Add to dashboard Cite

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. 

show abstract

Rotational transmission error of harmonic drive device.

Cited by 12 publications

References 0 publications

Modeling of the pure kinematic error for harmonic drive gears with considering multiple meshing teeth

Modeling of the pure kinematic error for harmonic drive gears with considering multiple meshing teeth

Influences of circular runout errors and processing parameters for slotting on the accuracy of harmonic reducer

Modeling and compensation for angular transmission error in harmonic drive gearings

Contact Info

Product

Resources

About