BLDC vs. Stepper, Harmonic Drive vs. Belt and Pulley; which one is ...
Jul 13, 2023 · Explore the pros and cons of robotic joint design options and know how Dorna Robotics uses these designs for cost-effective, precise, and agile robotic arms.
Design and Application of Harmonic Gear Drive in Robot Joints
This article explores the development of a harmonic gear drive tailored for robotic joints, focusing on the intricate design, simulation, and application processes. Through comprehensive analysis, the study reveals new meshing parameters and flexspline dimensions, delivers advanced 3D finite element models for stress assessment, and provides ...
Modelling and Control of a Harmonic Drive Joint - Academia.edu
In this paper a built-in torque sensor for harmonic drive systems is developed and examined in detail, in which strain-gauges are directly mounted on the harmonic drive flexspline. To minimize sensing inaccuracy, four Rosette strain gauges are used employing an …
Harmonic drive has three main components – flex spline, wave generator, and circular spline. The wave generator consists of two separate parts: an elliptical disk called a wave generator plug and an outer ball bearing.
Design Harmonic Drive for Application in Robot Joint
In this paper, a harmonic gear reducer is designed according to the transmission requirements and applied rotation to the base of a Puma 560 industrial robot. The harmonic drive is designed under gear physical requirements and robot techniques properties.
- [PDF]
Harmonic Drive LLC
Harmonic Drive® strain wave gears in their designs. This design example shows a very compact and ele-gant design incorporating SHF Simplicity Units. In the shoulder joint, the outer ring of the cross-roller bearing is connected directly to the upper robot arm segment, while the Circular Spline is connected to the base. In the
Nov 7, 2016 · Robotic manipulators require compact Joint Drive Systems (JDS) that typically comprise an actuator, a transmission and a joint structure that can deliver high torques through stiff mechanical ports.
The paper introduces the harmonic drive components and their features. The working of harmonic drive and its advantages are presented. The paper then presents the advancements in harmonic drive through the literature review in a chronological way. The calculations for the critical parameters of harmonic drive is presented and future work is ...
Mar 16, 2021 · This paper summarizes a historical -technical evaluation of Harmonic Drive gearing design by outlining the sources of the conception by its inventor Clarence W. Musser and the main operation characteristics.
A Refined Dynamic Model of Harmonic Drive and Its Dynamic …
To highlight the key factors which influence the dynamic performance of the harmonic drive, a refined harmonic drive model considering nonlinear stiffness, kinematic error, and friction of the critical components is established.