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    Design of a harmonic drive test apparatus for data acquisition and control

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    Author
    Hejny, Scott Wayne
    Date
    1997
    Advisor
    Ghorbel, Fathi H.
    Degree
    Master of Science
    Abstract
    Harmonic drive gear reducers were developed during the mid-1950's and are used in many industrial and military applications. The harmonic drive is a compact, "in-line" gear reducer capable of producing reduction ratios of up to 320:1. The devices are known for their efficiency and precision, but they also possess undesirable qualities characterized by nonlinear behavior. These undesirable aspects include the presence of both static and dynamic friction, flexibility (compliance), and kinematic, or positional, error. In the thesis, the mechanical design of a test platform for the study of the system nonlinearities was developed and fabricated. Experimental testing through computer controlled data acquisition validated the apparatus as a system for the examination and control of kinematic error. A new model for kinematic error was developed for the test system. Observations were made concerning the way in which flexibility effects the magnitude of the kinematic error. PD control schemes were implemented in both motor state and local state feedback control efforts. The load state feedback effort successfully compensated for the effects of kinematic error during regulation of the load position. The experimental results were compared to a model and discussed in detail.
    Keyword
    Mechanical engineering
    Citation
    Hejny, Scott Wayne. "Design of a harmonic drive test apparatus for data acquisition and control." (1997) Master’s Thesis, Rice University. https://hdl.handle.net/1911/17094.
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    • Rice University Electronic Theses and Dissertations [14030]

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    Home | FAQ | Contact Us | Privacy Notice | Accessibility Statement
    Managed by the Digital Scholarship Services at Fondren Library, Rice University
    Physical Address: 6100 Main Street, Houston, Texas 77005
    Mailing Address: MS-44, P.O.BOX 1892, Houston, Texas 77251-1892
    Site Map