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Modeling and compensation for angular transmission error of harmonic drive gearings in high precision positioning

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6 Author(s)
Iwasaki, M. ; Dept. of Comp. Sci. & Eng., Nagoya Inst. of Technol., Nagoya, Japan ; Yamamoto, M. ; Hirai, H. ; Okitsu, Y.
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This paper presents a novel modeling and compensation approach for the angular transmission error in harmonic drive gearings. In the modeling, physical phenomena of the transmission error due to nonlinear elastic deformations in micro-displacement region are especially dealt with, as well as the synchronous component which has been discussed in a variety of conventional studies. Based on the analyses of the phenomena, the nonlinear elastic component is mathematically modeled by applying a modeling framework for the rolling friction with hysteresis attributes. The proposed transmission error model has been adopted to the positioning system as a model-based feedforward compensation manner. Experimental results using a prototype show the effectiveness of the proposed modeling and compensation.

Published in:

Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on

Date of Conference:

14-17 July 2009