Harmonic drive transmissions: the effects of their elasticity, clearance and irregularity on the dynamic behaviour of an actual SCARA robot
- 1 July 1992
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 10 (4) , 369-375
- https://doi.org/10.1017/s0263574700008201
Abstract
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
This publication has 3 references indexed in Scilit:
- Study on Tooth Profiles of the Harmonic DriveJournal of Mechanical Design, 1990
- Dynamic Analysis of Scara Robots for Optimal Motions with Low-Cost ControllerIFAC Proceedings Volumes, 1989
- Torsional vibration in the robot due to wave gears.TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C, 1986