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TECHNICAL PAPERS

On the Kinematic Error in Harmonic Drive Gears

[+] Author and Article Information
Fathi H. Ghorbel, Prasanna S. Gandhi

Department of Mechanical Engineering Rice University, 6100 Main St.-MS 321 Houston, Texas 77005

Friedhelm Alpeter

Institut d’automatique École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland

J. Mech. Des 123(1), 90-97 (Oct 01, 1998) (8 pages) doi:10.1115/1.1334379 History: Received October 01, 1998
Copyright © 2001 by ASME
Topics: Errors , Gears , Plasticity , Stress
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References

Figures

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(a) Exploded and (b) assembled view of harmonic drive gear transmission (Harmonic Drive Technologies 1)
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Typical profile of the kinematic error
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Experimental measurement of basic component of the kinematic error
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Mechanism of occurrence of kinematic error due to assembly errors
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A schematic diagram of the Harmonic Drive Test Apparatus
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Mean Square Error (MSE) between simulated and experimental profiles
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Decomposition of the kinematic error: Experimental (dashed) and simulated (solid)
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Dependence of the kinematic error on torsional load
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Dependence of the kinematic error on assembly
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Dependence of the kinematic error on speed: Simulation (solid) and experimental (dotted) results
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View of the Harmonic Drive Test Apparatus
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Steady state stiffness curve of the harmonic drive system

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