Suppression of Rotational Speed Variation Excited by Reduction Gear Mechanism by Means of Self-Compensating Control. 1st Report. Reduction of Exciting Components of Harmonic Drive Gear.

Abstract

In servo-controlled machine systems, such as robotics or industrial machines, several kinds of gear reducers are proposed and employed selectively. Usually, these gear reducers caused speed and torque variations depending upon their element error, alignment error, etc. Such variations excite driven machine systems and cause vibrations. This paper deals with the technique of eliminating such variations locally generated inside the gear reducer in a lower-frequency domain. To eliminate these low-frequency components of variation, a local feedback loop control scheme is proposed to establish a self-compensating function in geared systems. Consequently this control scheme suppresses the vibrations in the driven machine systems. Experiment using a harmonic drive gear reducer show satisfactory control results.