| Autor: |
Kim, Beom-Seok, Jeong, Seung-Tae, Ahn, Hyeong-Joon |
| Zdroj: |
International Journal of Precision Engineering & Manufacturing; Mar2023, Vol. 24 Issue 3, p371-378, 8p |
| Abstrakt: |
The importance of robots is growing in manufacturing of the new normal era caused by the 4th industrial revolution and the pandemic. Harmonic drive is widely used as a precision reducer for the joint motion control of industrial robots. The angular transmission error (ATE) is an important performance indicator that greatly affects the position accuracy and vibration of a robot. This paper presents a novel method of predicting the ATE of a harmonic drive by measuring noncontact tooth profile and considering 3-dimensional tooth engagement. The tooth profile of the harmonic drive was measured with a commercial noncontact coordinate measuring machine, and the tooth pitch error was extracted using several mathematical techniques. The ATE considering 3D tooth engagement was predicted by introducing a triangular engagement coefficient. The ATE errors of 9 harmonic drives assembled with 3 flex splines (F/S) and 3 circular splines (C/S) were predicted and the superiority of the proposed method was verified by experimentally measuring their ATE. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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