Kinematic Error, Compliance, and Friction in a Harmonic Drive Gear Transmission
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Abstract
Abstract In this experimental examination, the behavior of harmonic-drive kinematic error, compliance, and friction was characterized. In particular, kinematic error was confirmed to appear primarily at frequencies that were multiples of the wave-generator rotational velocity, and static stiffness measurements were found to yield a range of profiles that could be highly nonlinear. Additional measurements of static and dynamic friction demonstrated that energy dissipation in harmonic drives varies nonlinearly with velocity and can escalate during system resonance. Due to the inseparable interaction between harmonic-drive kinematic error, compliance and friction, transmission properties often showed significant variation with operating conditions and were difficult to characterize accurately.