Abstract
Nonlinear torsional compliance and hysteresis are associated with harmonic drives, and their accurate modeling is crucial for improving performance of the control system of harmonic drive-based devices such as robot joints. In this paper, a new approach is taken to model the torsional compliance and hysteresis behavior in harmonic drives. The proposed model is derived by modeling the compliance behavior of the flexspline and the wave generator instead of modeling the individual behaviors of the overall harmonic drive transmission. The hysteresis loss is captured by taking the wave generator torsional compliance into account. The proposed model is validated through numerical simulations and subsequently with experimental data.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
