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Harmonic drive transmissions: the effects of their elasticity, clearance and irregularity on the dynamic behaviour of an actual SCARA robot

Published online by Cambridge University Press:  09 March 2009

Giovanni Legnani  and
Rodolfo Faglia
Giovanni Legnani
Affiliation:
Dip. Ing. Meccanica, Università di Brescia, Via Valotti 9, 25060 MOMPIANO BS. (Italy)
Rodolfo Faglia
Affiliation:
Dip. Ing. Meccanica, Università di Brescia, Via Valotti 9, 25060 MOMPIANO BS. (Italy)
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Summary

This paper deals with the study of the effects of Harmonic Drives characteristics on the dynamic behaviour of industrial robots. These components are firstly analyzed on the basis of the technical literature and, as a result, a mechanical model with concentrated parameters is obtained. Finally, the influence of these parameters on the dynamic behaviour of an actual SCARA robot in our department is investigated by means of experimental tests and by a computer simulation program purposely written.

Keywords

Harmonic DriveSCARA robotDynamic behaviour
Type
Article
Information
Robotica , Volume 10 , Issue 4 , July 1992 , pp. 369 - 375
Copyright
Copyright © Cambridge University Press 1992

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References

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