Abstract
In this paper, harmonic drive which is commonly used in robot joints is studied. A kinematic model of harmonic drive with input eccentricity error is established. The model and the deformation compatibility equation are established to solve the motion trajectory of a point on the neutral layer, the backlash distribution and the load distribution. Through an example analysis, it is found that the input eccentricity error makes the motion law of each point on the neutral layer no longer the same, and makes the backlash distribution uneven and the load concentrated in the eccentric direction. The model established in this paper can also provide a basis for the establishment of assembly tolerance.
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Acknowledgement
The authors appreciate the support from the National Natural Science Foundation of China (No. 51375065 and No. 50975038).
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© 2019 CISM International Centre for Mechanical Sciences
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Dong, H., Chen, T., Wang, D., Dong, B. (2019). Kinematic Model of Harmonic Drive in Robot Joints with Input Eccentricity Error. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_18
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DOI: https://doi.org/10.1007/978-3-319-78963-7_18
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Publisher Name: Springer, Cham
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Online ISBN: 978-3-319-78963-7
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