Modeling and compensation for angular transmission error in harmonic drive gearings |
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Authors: | Masafumi Yamamoto Makoto Iwasaki Hiromu Hirai Yoshifumi Okitsu Kozo Sasaki Toshio Yajima |
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Affiliation: | 1. Department of Computer Science and Engineering, Nagoya Institute of Technology, Gokiso, Showa, Nagoya 466-8555, Japan;2. Harmonic Drive Systems Inc., 6-25-3 Minami-Oi, Shinagawa-ku, Tokyo 140-0013, Japan |
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Abstract: | 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. |
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Keywords: | harmonic drive gearing angular transmission error nonlinear elastic deformation modeling compensation |
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