Research and application of harmonic drive in mechanical system

DOI

10.2991/icsmme-15.2015.38How to use a DOI?

Keywords

Harmonic Drive, Flexibility, Friction, Double Speed Loop

Abstract

For reducing the effect of flexibility, backlash and friction, which is brought by the harmonic gear in the system, this paper proposes a kind of multiple loops’ control method based on double speed loops. The control system includes double speed loops and current loop. Double speed loops are consist of speed loop in motor side and speed loop in load side. The speed loop in motor side is the inner loop and the speed loop in load side is the outer loop. The paper separately analyses the control performance of single speed loop and double speed loops in theory. Finally, the practical experiment results are used to validate the effectiveness of the control method based on double speed loops for inhibiting the nonlinear deadzone in the harmonic drive system.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Huxiang Cai
AU  - Yongmei Huang
AU  - Jing Cheng
PY  - 2015/11
DA  - 2015/11
TI  - Research and application of harmonic drive in mechanical system
BT  - Proceedings of the 2015 International Conference on Structural, Mechanical and Material Engineering
PB  - Atlantis Press
SP  - 161
EP  - 163
SN  - 2352-5401
UR  - https://doi.org/10.2991/icsmme-15.2015.38
DO  - 10.2991/icsmme-15.2015.38
ID  - Cai2015/11
ER  -