Publication detail
Mechatronic Model of Harmonic Drive System
HADAŠ, Z. GARAMI, B.
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 in English
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 number
1
Pages from–to
273–278
Pages count
6
BIBTEX
@inproceedings{BUT130611,
author="Zdeněk {Hadaš} and Boris {Garami},
title="Mechatronic Model of Harmonic Drive System",
booktitle="Proceedings of the 2016 17th International Conference on Mechatronics – Mechatronika (ME) 2016",
year="2016",
month="December",
pages="273--278",
publisher="Czech Technical University in Prague",
address="Praha",
isbn="978-80-01-05882-4"
}