Output Torque for Electromagnetic Harmonic Drive
نویسندگان
چکیده
منابع مشابه
Robust Torque Control of Harmonic Drive Systems
A harmonic drive is a compact light weight and high ratio torque transmission device which has almost zero backlash Its unique performance features has captured the attention of designers in many industrial applications especially in robotics Despite widespread industrial application of harmonic drives the torque control of this system has not been fully addressed In this thesis the robust torq...
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A harmonic drive is a compact, lightweight, and high-ratio torque transmission device which is used in many electrically actuated robot manipulators. In this paper a builtin torque sensor for harmonic-drive systems is examined in detail. The method proposed by Hashimoto, in which strain gauges are directly mounted on the flexspline, is employed and improved in this paper. To minimize sensing in...
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The unique performance features of harmonic drives, such as highs gear ratios and high torque capacities in a compact geometry, justify their widespread industrial application especially in many electrically actuated robot manipulators. In many robotic control strategies it is assumed that the actuator is acting as a torque source, and in order to implement such algorithms it is necessary to ac...
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In this paper, the torque control of a harmonic drive system for constrained-motion and free-motion applications is examined in detail. A nominal model for the system is obtained in each case from experimental frequency responses of the system, and the deviation of the system from the model is encapsulated by a multiplicative uncertainty. Robust torque controllers are designed using this inform...
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ژورنال
عنوان ژورنال: Advances in Mechanical Engineering
سال: 2014
ISSN: 1687-8140,1687-8140
DOI: 10.1155/2014/721543