Kinematic Error, Compliance, and Friction in a Harmonic Drive Gear Transmission

Author:

Tuttle Timothy D.1,Seering Warren P.1

Affiliation:

1. Massachusetts Institute of Technology

Abstract

Abstract In this experimental examination, the behavior of harmonic-drive kinematic error, compliance, and friction was characterized. In particular, kinematic error was confirmed to appear primarily at frequencies that were multiples of the wave-generator rotational velocity, and static stiffness measurements were found to yield a range of profiles that could be highly nonlinear. Additional measurements of static and dynamic friction demonstrated that energy dissipation in harmonic drives varies nonlinearly with velocity and can escalate during system resonance. Due to the inseparable interaction between harmonic-drive kinematic error, compliance and friction, transmission properties often showed significant variation with operating conditions and were difficult to characterize accurately.

Publisher

American Society of Mechanical Engineers

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Modeling of the pure kinematic error for harmonic drive gears with considering multiple meshing teeth;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2023-01-02

2. Modeling and analysis of pure kinematic error in harmonic drive;Mechanism and Machine Theory;2021-01

3. The Design of a Novel Mechanical Transmission for Speed Reduction;Journal of Mechanical Design;1999-12-01

4. On the Kinematic Error in Harmonic Drive Gears;Journal of Mechanical Design;1998-10-01

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