Dynamic modelling and torque ripple minimization of a lightweight ultra-high transmission ratio harmonic drive

Efstratios Tsolakis; Georgios Vasileiou; Nikolaos Rogkas; Christos Kalligeros; Pavlos Zalimidis; Vasilios Spitas

doi:10.1051/matecconf/202031701007

All issues

Volume 317 (2020)

MATEC Web Conf., 317 (2020) 01007

References

Open Access

Issue		MATEC Web Conf. Volume 317, 2020 7^th International BAPT Conference “Power Transmissions 2020”


Article Number		01007
Number of page(s)		8
Section		Design, Analysis, Simulation and Optimization
DOI		https://doi.org/10.1051/matecconf/202031701007
Published online		03 August 2020

C.W. Musser. (1955). “Strain wave gearing,” U.S. Patent 2 906 143 03 23, [Online]. Available:http://www.google.com/patents?vid=2906143 [Google Scholar]
Routh, B. (2018, April). Design aspects of harmonic drive gear and performance improvement of its by problems identification: A review. In AIP Conference Proceedings (Vol. 1943, No. 1, p. 020016). AIP Publishing LLC. [CrossRef] [Google Scholar]
Buss, A., & Trhoň, V. (2014). Harmonic Drive products in robotic. In Applied Mechanics and Materials (Vol. 613, pp. 112-116). Trans Tech Publications Ltd. [CrossRef] [Google Scholar]
Ueura, K., & Slatter, R. (1999). Development of the harmonic drive gear for space applications. European Space Agency-Publications-ESA SP, 438, 259-264. [Google Scholar]
Dhaouadi, R., & Ghorbel, F.H. (2008). Modelling and analysis of nonlinear stiffness, hysteresis and friction in harmonic drive gears. International Journal of Modelling and Simulation, 28(3), 329-336. [CrossRef] [Google Scholar]
Lu, Y.S., & Lin, S.M. (2007). Disturbance-observer-based adaptive feedforward cancellation of torque ripples in harmonic drive systems.Electrical Engineering, 90(2), 95-106. [CrossRef] [Google Scholar]
Lu, Y.S., Lin, S.M., Hauschild, M., & Hirzinger, G. (2013). A torque-ripple compensation scheme for harmonic drive systems. Electrical Engineering, 95(4), 357-365. [Google Scholar]
Taghirad, H.D., & Belanger, P.R. (1998). Torque ripple and misalignment torque compensation for the built-in torque sensor of harmonic drive systems. IEEE Transactions on Instrumentation and Measurement, 47(1), 309-315. [Google Scholar]
Godler, I., Ninomiya, T., & Horiuchi, M. (2001). Ripple compensation for torque sensors built into harmonic drives. IEEE Transactions on Instrumentation and Measurement, 50(1), 117-122. [Google Scholar]
Hidaka T, Zhang Y, Sasahara M, Tanioka Y (1989) Vibration of a strain wave gearing in an industrial robot. In: Proceedings of ASME International Power Transmission and Gearing Conference, pp 789-794 [Google Scholar]

Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.

Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.

Initial download of the metrics may take a while.

[1] C.W. Musser. (1955). “Strain wave gearing,” U.S. Patent 2 906 143 03 23, [Online]. Available:http://www.google.com/patents?vid=2906143 [Google Scholar]

[2] Routh, B. (2018, April). Design aspects of harmonic drive gear and performance improvement of its by problems identification: A review. In AIP Conference Proceedings (Vol. 1943, No. 1, p. 020016). AIP Publishing LLC. [CrossRef] [Google Scholar]

[3] Buss, A., & Trhoň, V. (2014). Harmonic Drive products in robotic. In Applied Mechanics and Materials (Vol. 613, pp. 112-116). Trans Tech Publications Ltd. [CrossRef] [Google Scholar]

[4] Ueura, K., & Slatter, R. (1999). Development of the harmonic drive gear for space applications. European Space Agency-Publications-ESA SP, 438, 259-264. [Google Scholar]

[5] Dhaouadi, R., & Ghorbel, F.H. (2008). Modelling and analysis of nonlinear stiffness, hysteresis and friction in harmonic drive gears. International Journal of Modelling and Simulation, 28(3), 329-336. [CrossRef] [Google Scholar]

[6] Lu, Y.S., & Lin, S.M. (2007). Disturbance-observer-based adaptive feedforward cancellation of torque ripples in harmonic drive systems.Electrical Engineering, 90(2), 95-106. [CrossRef] [Google Scholar]

[7] Lu, Y.S., Lin, S.M., Hauschild, M., & Hirzinger, G. (2013). A torque-ripple compensation scheme for harmonic drive systems. Electrical Engineering, 95(4), 357-365. [Google Scholar]

[8] Taghirad, H.D., & Belanger, P.R. (1998). Torque ripple and misalignment torque compensation for the built-in torque sensor of harmonic drive systems. IEEE Transactions on Instrumentation and Measurement, 47(1), 309-315. [Google Scholar]

[9] Godler, I., Ninomiya, T., & Horiuchi, M. (2001). Ripple compensation for torque sensors built into harmonic drives. IEEE Transactions on Instrumentation and Measurement, 50(1), 117-122. [Google Scholar]

[10] Hidaka T, Zhang Y, Sasahara M, Tanioka Y (1989) Vibration of a strain wave gearing in an industrial robot. In: Proceedings of ASME International Power Transmission and Gearing Conference, pp 789-794 [Google Scholar]