Abstract
Axial displacement of the input shaft is one of the faults of harmonic drives in industrial robots. Aiming at finding a monitoring method of this kind of failure in this paper, the simulation of axial displacement failure is performed by establishing the electromechanical system model of the harmonic drive. The exponential LuGre friction model is used in the developed harmonic drive model, and an additional friction torque model caused by the axial displacement failure was established. The nominal load is input into the harmonic drive, and the simulation experiment was implemented with different degrees of input shaft axial displacement failure. The simulation result shows that the input shaft axial displacement failure of the harmonic drive affects the state (the internal current) of the drive motor. In the future, one can detect the axial displacement failure of the harmonic drives based on this finding.
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