In this paper, a new model of the harmonic drive transmission is presented. The purpose of this work is to better understand the transmission hysteresis behavior while constructing a new type of comprehensive harmonic drive model. The four dominant aspects of harmonic drive behavior—nonlinear viscous friction, nonlinear stiffness, hysteresis, and kinematic error—are all included in the model. The harmonic drive is taken to be a black box, and a dynamometer is used to observe the input/output relations of the transmission. This phenomenological approach does not require any specific knowledge of the internal kinematics. In a novel application, the Maxwell resistive-capacitor hysteresis model is applied to the harmonic drive. In this model, sets of linear stiffness elements in series with Coulomb friction elements are arranged in parallel to capture the hysteresis behavior of the transmission. The causal hysteresis model is combined with nonlinear viscous friction and spectral kinematic error models to accurately represent the harmonic drive behavior. Empirical measurements are presented to quantify all four aspects of the transmission behavior. These measurements motivate the formulation of the complete model. Simulation results are then compared to additional measurements of the harmonic drive performance.
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January 2012
Research Papers
A High-Fidelity Harmonic Drive Model
Curt Preissner,
Curt Preissner
The Advanced Photon Source, Argonne National Laboratory
, 9700 S. Cass Avenue, Argonne, IL 60439
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Thomas J. Royston,
Thomas J. Royston
UIC Department of Mechanical and Industrial Engineering, 842 West Taylor Street, MC 251, Chicago, IL 60607
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Deming Shu
Deming Shu
The Advanced Photon Source, Argonne National Laboratory
, 9700 S. Cass Avenue, Argonne, IL 60439
Search for other works by this author on:
Curt Preissner
The Advanced Photon Source, Argonne National Laboratory
, 9700 S. Cass Avenue, Argonne, IL 60439
Thomas J. Royston
UIC Department of Mechanical and Industrial Engineering, 842 West Taylor Street, MC 251, Chicago, IL 60607
Deming Shu
The Advanced Photon Source, Argonne National Laboratory
, 9700 S. Cass Avenue, Argonne, IL 60439 J. Dyn. Sys., Meas., Control. Jan 2012, 134(1): 011002 (13 pages)
Published Online: December 2, 2011
Article history
Received:
October 12, 2009
Revised:
July 7, 2011
Online:
December 2, 2011
Published:
December 2, 2011
Citation
Preissner, C., Royston, T. J., and Shu, D. (December 2, 2011). "A High-Fidelity Harmonic Drive Model." ASME. J. Dyn. Sys., Meas., Control. January 2012; 134(1): 011002. https://doi.org/10.1115/1.4005041
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