Publication detail

Mechatronic Model of Harmonic Drive System

HADAŠ, Z. GARAMI, B.

Original Title

Mechatronic Model of Harmonic Drive System

English Title

Mechatronic Model of Harmonic Drive System

Type

conference paper

Language

en

Original Abstract

This paper deals with a simulation and modeling of a harmonic drive mechanism with DC motor, couplers and mechanical load. The harmonic drive mechanism is used for aprecise motion of several mechatronic systems (robots, medical devices, military, aeronautics, etc.). The harmonic drive provides precise and specific gear systems with high transmission ration and very low backlash. This paper analyzed a multi-body model of the harmonic drive and the nonlinear model of transmission dynamic was created and the harmonic drive operation was simulated. This non-linear model will be used for dynamic analyses of developed precise mechatronic systems. Control loops could be adapted onto the non-linear model.

English abstract

This paper deals with a simulation and modeling of a harmonic drive mechanism with DC motor, couplers and mechanical load. The harmonic drive mechanism is used for aprecise motion of several mechatronic systems (robots, medical devices, military, aeronautics, etc.). The harmonic drive provides precise and specific gear systems with high transmission ration and very low backlash. This paper analyzed a multi-body model of the harmonic drive and the nonlinear model of transmission dynamic was created and the harmonic drive operation was simulated. This non-linear model will be used for dynamic analyses of developed precise mechatronic systems. Control loops could be adapted onto the non-linear model.

Keywords

harmonic drive; DC motor; model; dynamics; stiffness; backslash; FEM; SIMULINK

Released

07.12.2016

Publisher

Czech Technical University in Prague

Location

Praha

ISBN

978-80-01-05882-4

Book

Proceedings of the 2016 17th International Conference on Mechatronics – Mechatronika (ME) 2016

Edition

1

Edition number

1

Pages from

273

Pages to

278

Pages count

6

Documents

BibTex


@inproceedings{BUT130611,
  author="Zdeněk {Hadaš} and Boris {Garami}",
  title="Mechatronic Model of Harmonic Drive System",
  annote="This paper deals with a simulation and modeling of a harmonic drive mechanism with DC motor, couplers and
mechanical load. The harmonic drive mechanism is used for aprecise motion of several mechatronic systems (robots, medical devices, military, aeronautics, etc.). The harmonic drive provides precise and specific gear systems with high transmission ration and very low backlash. This paper analyzed a multi-body model of the harmonic drive and the nonlinear model of transmission dynamic was created and the harmonic drive operation was simulated. This non-linear model will be used for dynamic analyses of developed precise mechatronic systems. Control loops could be adapted onto the non-linear model.",
  address="Czech Technical University in Prague",
  booktitle="Proceedings of the 2016 17th International Conference on Mechatronics – Mechatronika (ME) 2016",
  chapter="130611",
  edition="1",
  howpublished="electronic, physical medium",
  institution="Czech Technical University in Prague",
  year="2016",
  month="december",
  pages="273--278",
  publisher="Czech Technical University in Prague",
  type="conference paper"
}