Compensation for synchronous component of angular transmission errors in harmonic drive gearings

Author

Yamamoto, Masafumi ; Iwasaki, Makoto ; Kainuma, Makoto ; Okitsu, Yoshifumi ; Yuki, Kato ; Sasaki, Kozo ; Yajima, Tamotsu

Author_Institution

Dept. of Comp. Sci. & Eng., Nagoya Inst. of Technol., Nagoya, Japan

fYear

2010

fDate

21-24 March 2010

Firstpage

361

Lastpage

365

Abstract

This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmission error model-based feedforward compensation is adopted to improve the positioning performance during both static and dynamic positioning motions. The proposed approach has been verified by experiments using a prototype with harmonic drive gearings.

Keywords

compensation; drives; gears; power transmission (mechanical); angular transmission errors; dynamic positioning motions; harmonic drive gearings; model-based feedforward compensation; static positioning motions; synchronous component; AC motors; Actuators; Error correction; Gears; Kinematics; Performance analysis; Prototypes; Service robots; Shafts; Synchronous motors;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2010 11th IEEE International Workshop on

Conference_Location

Nagaoka, Niigata

ISSN

1943-6572

Print_ISBN

978-1-4244-6668-9

Electronic_ISBN

1943-6572

Type

conf

DOI

10.1109/AMC.2010.5464103

Filename

5464103