Hostname: page-component-7dd5485656-k8lnt Total loading time: 0 Render date: 2025-10-31T17:13:14.672Z Has data issue: false hasContentIssue false
  • English
  • Français

Harmonic drive transmissions: the effects of their elasticity, clearance and irregularity on the dynamic behaviour of an actual SCARA robot

Published online by Cambridge University Press:  09 March 2009

Giovanni Legnani  and
Rodolfo Faglia
Giovanni Legnani
Affiliation:
Dip. Ing. Meccanica, Università di Brescia, Via Valotti 9, 25060 MOMPIANO BS. (Italy)
Rodolfo Faglia
Affiliation:
Dip. Ing. Meccanica, Università di Brescia, Via Valotti 9, 25060 MOMPIANO BS. (Italy)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper deals with the study of the effects of Harmonic Drives characteristics on the dynamic behaviour of industrial robots. These components are firstly analyzed on the basis of the technical literature and, as a result, a mechanical model with concentrated parameters is obtained. Finally, the influence of these parameters on the dynamic behaviour of an actual SCARA robot in our department is investigated by means of experimental tests and by a computer simulation program purposely written.

Keywords

Harmonic DriveSCARA robotDynamic behaviour

Information

Type
Article
Information
Robotica , Volume 10 , Issue 4 , July 1992 , pp. 369 - 375
Copyright
Copyright © Cambridge University Press 1992

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Romiti, A., “I Requisisti dei Riduttori di Velocita' per Robot” Progettare No. 107, 62–66 (04, 1989).Google Scholar
2.Carlson, J.H., “Harmonic Drive for Servomechanisms” Machine Design (01, 1985). pp. 102–106.Google Scholar
3.Harmonic Drive Ltd., Data Sheets and Tech. Manuals (Harmonic Drive Information Service, Lanburg, Germany, 1989).Google Scholar
4.Belforte, G., Gola, M. & Ippolito, R., “II Comportamento dei Riduttori di Velocita' Harmonic Drive” Progettare No. 89 64–69 (10, 1987).Google Scholar
5.Faglia, R. and Legnani, G. “Dynamic Analysis of SCARA Robots for Optimal Motions with Low-Cost Controller” Proceedings of the 2nd IFAC Symp. on Low-cost Automation, Milan, Italy (8–10 11, 1989) 213–218 (Pergamon, Oxford, 1989).CrossRefGoogle Scholar
6.Kondo, K. and Takada, J., “Study on tooth profiles of the Harmonic drives” J. Mech. Design ASME 112, 131–137 (03, 1990).CrossRefGoogle Scholar
7.Hidaka, T., Ishida, T., Zhang, Y., Sasahara, M. and Tanioka, Y., “Vibration of a Strain Wave Gearing in an Industrial Robot” Int. Power Transmission and Gearing Conference, ASME 11, 789–794 (1989).Google Scholar
8.Hidaka, T., Sasahara, M., Tanioka, Y. & Okada, , “Torsional Vibration in the Robot Due to Wave Gears”. Treatises of the Japan Society of Mechanical Engineering (edition c) 52, No. 480, (08, 1986) pp. 1–25.Google Scholar
9.Bazzaro, E. & Donzella, G., “Studio sullo Stato di Tensione e di Deformazione nella Campana Elastica di un Riduttore Tipo “Armonico” Convegno “Problemi di Progettazione Meccanica e di Analisi Comportamentale: Organi delle Macchine” Pol., Milano, Italy (7 06, 1990) pp. 110–117.Google Scholar
10.Jara-Almonte, C.C. & Ransom, T.R., “Theoretical Positional Error Analysis of Harmonic Drive Gearing” Cemil Bagci Conference,Los Angeles (1987) pp. 811–819.Google Scholar