Research and application of harmonic drive in mechanical system
Huxiang Cai, Yongmei Huang, Jing Cheng
Available Online November 2015.
- https://doi.org/10.2991/icsmme-15.2015.38How to use a DOI?
- Harmonic Drive, Flexibility, Friction, Double Speed Loop
- 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.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
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 - 2015 International Conference on Structural, Mechanical and Material Engineering PB - Atlantis Press SN - 2352-5401 UR - https://doi.org/10.2991/icsmme-15.2015.38 DO - https://doi.org/10.2991/icsmme-15.2015.38 ID - Cai2015/11 ER -