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Modeling and compensation for angular transmission error in harmonic drive gearings
Author(s) -
Yamamoto Masafumi,
Iwasaki Makoto,
Hirai Hiromu,
Okitsu Yoshifumi,
Sasaki Kozo,
Yajima Toshio
Publication year - 2009
Publication title -
ieej transactions on electrical and electronic engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 30
eISSN - 1931-4981
pISSN - 1931-4973
DOI - 10.1002/tee.20393
Subject(s) - compensation (psychology) , nonlinear system , component (thermodynamics) , harmonic , transmission (telecommunications) , control theory (sociology) , feed forward , displacement (psychology) , harmonic drive , transmission system , hysteresis , computer science , engineering , control engineering , physics , acoustics , artificial intelligence , telecommunications , control (management) , psychology , quantum mechanics , psychoanalysis , psychotherapist , thermodynamics
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.