Measurement and modeling of kinematic error and clearance in harmonic drives
In order to obtain the kinematic error and clearance in harmonic drive, an experimental setup was established. The cause of beat frequency characteristic was analyzed and verified by the FFT result of experiment data. The position dependent kinematic error was modeled by Fourier expression method and the simulated model was also verified by another set of experimental data. And a reversing experiment was designed to acquire the change process of clearance in harmonic drive and the frequency domain method was applied to extract the clearance value. The proposed measurement and modeling method will be useful to the dynamic modeling and performance evaluation of harmonic drive.
harmonic drive kinematic error clearance measurement model
Chuang Zou Tao Tao Gedong Jiang Pengfei Zeng Hongyang Du
School of Mechanical Engineering, Xian Jiaotong University, Xian, China
国际会议
重庆
英文
102-109
2015-12-18（万方平台首次上网日期，不代表论文的发表时间）