New approach for modeling and testing of harmonic drive in robotic systems
- Resource Type
- Conference
- Authors
- Li, Shimeng; Zheng, Yuan F.; Cao, Lei Raymond
- Source
- 2014 IEEE International Conference on Mechatronics and Automation Mechatronics and Automation (ICMA), 2014 IEEE International Conference on. :1079-1084 Aug, 2014
- Subject
- Bioengineering
Components, Circuits, Devices and Systems
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Harmonic analysis
Generators
Torque
Testing
Drives
Friction
Gears
harmonic drive
dynamic modeling
Hubo+
robotic systems
testing method
- Language
- ISSN
- 2152-7431
2152-744X
Harmonic drives are becoming a key component in advanced robotic systems. The complicated dynamic behavior of the harmonic drive is due to the nonlinear torsional stiffness and hysteresis. Traditional modeling methods capture the behavior patterns of the harmonic drive by treating it as a black box in the experiments. This paper provides a new dynamic modeling method which takes into consideration component interactions inside the harmonic drive. In addition an innovative method for testing the performance of the drive is devised. Based on this new method, we have developed a testing station and performed experiments on a real harmonic drive which is used in the Hubo+ humanoid robot. The testing results have verified the new modeling and testing method.