Modeling and compensation for angular transmission error in harmonic drive gearings

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 micro‐displacement region are especially dealt with, as well as the syn...

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Bibliographic Details
Published in:IEEJ transactions on electrical and electronic engineering 2009-03, Vol.4 (2), p.158-165
Main Authors: Yamamoto, Masafumi, Iwasaki, Makoto, Hirai, Hiromu, Okitsu, Yoshifumi, Sasaki, Kozo, Yajima, Toshio
Format: Article
Language:English
Subjects:
angular transmission error
Compensation
Elastic deformation
Gears
harmonic drive gearing
Harmonics
Mathematical models
modeling
nonlinear elastic deformation
Nonlinearity
Synchronous
Transmission error
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Summary: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 micro‐displacement 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. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.
ISSN:1931-4973
1931-4981
DOI:10.1002/tee.20393