Abstract
In this paper, a mathematical model and its parameter identification scheme are proposed for harmonic drive gears with compliance and hysteresis. The hysteresis phenomenon in harmonic drives is described by a nonlinear differential equation representing the torque-displacement relationship across the flexspline of the harmonic drive. The representation is equivalent to having the combination of nonlinear stiffness and nonlinear viscous damping. Numerical simulations along with experimental data have been used to validate the proposed modelling concept.
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