Modelling and Analysis of Nonlinear Stiffness, Hysteresis and Friction in Harmonic Drive Gears

In this paper, a mathematical model and its parameter identification scheme are proposed for harmonic drive gears with compliance and hysteresis. The hysteresis phenomenon in harmonic drives is described by a nonlinear differential equation representing the torque-displacement relationship across th...

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Bibliographic Details
Published inInternational journal of modelling & simulation Vol. 28; no. 3; pp. 329 - 336
Main Authors Dhaouadi, R., Ghorbel, F.H.
Format Journal Article
LanguageEnglish
Published Calgary Taylor & Francis 2008
Taylor & Francis Ltd
Subjects
Compliance
Friction
Gears
Harmonic drive gear
hysteresis
Kinematics
Load
Mathematical analysis
Mathematical models
Medical equipment
Noise
nonlinear ordinary differential equation
nonlinear stiffness
Nonlinear systems
Ordinary differential equations
Parameter identification
Product design
Sensors
Steel pipes
Systems stability
Velocity
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Summary:In this paper, a mathematical model and its parameter identification scheme are proposed for harmonic drive gears with compliance and hysteresis. The hysteresis phenomenon in harmonic drives is described by a nonlinear differential equation representing the torque-displacement relationship across the flexspline of the harmonic drive. The representation is equivalent to having the combination of nonlinear stiffness and nonlinear viscous damping. Numerical simulations along with experimental data have been used to validate the proposed modelling concept.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0228-6203
1925-7082
DOI:10.1080/02286203.2008.11442485