A Refined Dynamic Model of Harmonic Drive and Its Dynamic Response Analysis
To highlight the key factors which influence the dynamic performance of the harmonic drive, a refined harmonic drive model considering nonlinear stiffness, kinematic error, and friction of the critical components is established. A dedicated experimental apparatus based on double motor twisting is co...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2020/1841724 |
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| _version_ | 1850177997044187136 |
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| author | Xian Zhang Tao Tao Gedong Jiang Xuesong Mei Chuang Zou |
| author_facet | Xian Zhang Tao Tao Gedong Jiang Xuesong Mei Chuang Zou |
| author_sort | Xian Zhang |
| collection | DOAJ |
| description | To highlight the key factors which influence the dynamic performance of the harmonic drive, a refined harmonic drive model considering nonlinear stiffness, kinematic error, and friction of the critical components is established. A dedicated experimental apparatus based on double motor twisting is constructed to measure the characteristics of harmonic drive, and the attribute parameters of the proposed model are identified. A series of experiments on the dynamic transmission error at different driving velocities are carried out to verify the proposed model. Based on the proposed model, the influence of different component stiffness on the velocity step response of the harmonic drive is analyzed. The results show that the influence of the component stiffness on the system dynamic response is more significant at high driving velocity, the increase of the stiffness of each component will decrease the dynamic transmission accuracy of harmonic drive, and the bearing radial stiffness is the most sensitive parameter to system’s dynamic response among all the stiffness factors. |
| format | Article |
| id | doaj-art-bb433236dd774fcdaa1bb6f36214bbdd |
| institution | OA Journals |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-bb433236dd774fcdaa1bb6f36214bbdd2025-08-20T02:18:50ZengWileyShock and Vibration1070-96221875-92032020-01-01202010.1155/2020/18417241841724A Refined Dynamic Model of Harmonic Drive and Its Dynamic Response AnalysisXian Zhang0Tao Tao1Gedong Jiang2Xuesong Mei3Chuang Zou4State Key Laboratory for Manufacturing System Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaState Key Laboratory for Manufacturing System Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaState Key Laboratory for Manufacturing System Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaTo highlight the key factors which influence the dynamic performance of the harmonic drive, a refined harmonic drive model considering nonlinear stiffness, kinematic error, and friction of the critical components is established. A dedicated experimental apparatus based on double motor twisting is constructed to measure the characteristics of harmonic drive, and the attribute parameters of the proposed model are identified. A series of experiments on the dynamic transmission error at different driving velocities are carried out to verify the proposed model. Based on the proposed model, the influence of different component stiffness on the velocity step response of the harmonic drive is analyzed. The results show that the influence of the component stiffness on the system dynamic response is more significant at high driving velocity, the increase of the stiffness of each component will decrease the dynamic transmission accuracy of harmonic drive, and the bearing radial stiffness is the most sensitive parameter to system’s dynamic response among all the stiffness factors.http://dx.doi.org/10.1155/2020/1841724 |
| spellingShingle | Xian Zhang Tao Tao Gedong Jiang Xuesong Mei Chuang Zou A Refined Dynamic Model of Harmonic Drive and Its Dynamic Response Analysis Shock and Vibration |
| title | A Refined Dynamic Model of Harmonic Drive and Its Dynamic Response Analysis |
| title_full | A Refined Dynamic Model of Harmonic Drive and Its Dynamic Response Analysis |
| title_fullStr | A Refined Dynamic Model of Harmonic Drive and Its Dynamic Response Analysis |
| title_full_unstemmed | A Refined Dynamic Model of Harmonic Drive and Its Dynamic Response Analysis |
| title_short | A Refined Dynamic Model of Harmonic Drive and Its Dynamic Response Analysis |
| title_sort | refined dynamic model of harmonic drive and its dynamic response analysis |
| url | http://dx.doi.org/10.1155/2020/1841724 |
| work_keys_str_mv | AT xianzhang arefineddynamicmodelofharmonicdriveanditsdynamicresponseanalysis AT taotao arefineddynamicmodelofharmonicdriveanditsdynamicresponseanalysis AT gedongjiang arefineddynamicmodelofharmonicdriveanditsdynamicresponseanalysis AT xuesongmei arefineddynamicmodelofharmonicdriveanditsdynamicresponseanalysis AT chuangzou arefineddynamicmodelofharmonicdriveanditsdynamicresponseanalysis AT xianzhang refineddynamicmodelofharmonicdriveanditsdynamicresponseanalysis AT taotao refineddynamicmodelofharmonicdriveanditsdynamicresponseanalysis AT gedongjiang refineddynamicmodelofharmonicdriveanditsdynamicresponseanalysis AT xuesongmei refineddynamicmodelofharmonicdriveanditsdynamicresponseanalysis AT chuangzou refineddynamicmodelofharmonicdriveanditsdynamicresponseanalysis |