Load-dependent Friction Laws of Three Models of Harmonic Drive Gearboxes Identified by Using a Force Transfer Diagram
| Autor: | Garrec Philippe, Abba Gabriel, Raharijaona Thibaut, Antoine Jean-Francois, Ponce Quiroga Carlos Wilfrido |
|---|---|
| Přispěvatelé: | Laboratoire de Conception Fabrication Commande (LCFC), Université de Lorraine (UL)-Arts et Métiers Sciences et Technologies, HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), Laboratoire d'Intégration des Systèmes et des Technologies (LIST (CEA)), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA), Support from Commissariat à l'énergie atomique et aux énergies alternatives (FR), Instituto de Innovación y Transferencia de Tecnología (N.L., MX) and Consejo Nacional de Ciencia y Tecnología (MX)., Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM)-Université de Lorraine (UL), Université de Lorraine (UL), CEA- Saclay (CEA), Commissariat à l'énergie atomique et aux énergies alternatives (CEA) |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
harmonic drive
Computer science friction collaborative robots torque Function (mathematics) [SPI.MECA.SOLID]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Solid mechanics [physics.class-ph] law.invention [SPI.AUTO]Engineering Sciences [physics]/Automatic Harmonic analysis [SPI]Engineering Sciences [physics] Reliability (semiconductor) Law Torce Transfer diagram Torque Robot Harmonic drive Friction torque Backlash |
| Zdroj: | 12th International Conference on Mechanical and Aerospace Engineering 12th International Conference on Mechanical and Aerospace Engineering (ICMAE 2021) 12th International Conference on Mechanical and Aerospace Engineering (ICMAE 2021), Jul 2021, Athens (on line), Greece. pp.239-244, ⟨10.1109/ICMAE52228.2021.9522368⟩ 12th International Conference on Mechanical and Aerospace Engineering, Jul 2021, Athens (on line), Greece |
| Popis: | International audience; Industrial robotics and aerospace engineering widely use harmonic drive gearboxes for their reliability, high accuracy with zero backlash and high ratio torque transmission However, they present known problematic behaviors that affect their performance. The article deals with the first step towards the improvement of torque control of collaborative robots. We designed and developed two experimental setups to study three types of Harmonic Drive gearboxes. We identify the friction laws by using Force Transfer Diagrams. The results exhibit a new parabolic law of friction torque as a function of the transmitted torque. |
| Databáze: | OpenAIRE |
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