Hostname: page-component-7fc98996b9-rf4gk Harmonic Drive, also called Harmonic Drive gear, harmonic gear, or strain wave gearing, mechanical speed-changing device, invented in the 1950s, that reduces the gear ratio of a rotary machine to increase torque. These components are firstly analyzed on the basis of the technical literature and, as a result, a mechanical model with concentrated parameters is obtained. Selecting the proper grease is critical to the life and performance of the gear. Price excludes VAT (USA) ring gear by using a mechanical rotational input signal. The flex spline is shaped like a shallow cup. the temperature. Learn how motor circuit analysis tests can be used to identify developing issues. Kim, Minsung 1 and varies with the torque load. Anyone you share the following link with will be able to read this content: Sorry, a shareable link is not currently available for this article. Calculation of the kinematic error of a harmonic gear transmission taking into account the compliance of elements. To enable this port, set Friction model to Hours 8:00am - 5:00pm ESTMonday through Friday, This site uses cookies to provide you with more responsive and personalized service. Akbarzadeh, Alireza you parameterize the meshing losses the same way you would for the By using this site you agree the Privacy Policy and Terms of Service. Not to go too deeply into it, it seems in your application the Flexspline was held stationary and the circular spline transferred the output motion. Kim, Minsung California sunsets. endobj to On. Part of Springer Nature. The wave generator can be inside the tube, and, by its rotation, it can deflect the flexspline and produce a slow rotation of the encircling circular spline. Absolute value of the follower shaft power above which the full vector. Each element in the vector must be in the range (0,1]. 8 0 obj Zero backlash Harmonic Drive and low backlash Harmonic Gearhead Planetary Quick Connect gearboxes easily mount to any servomotor to create a high precision actuator. They produce wasteful heat and can cause plant issues and fees from local power utilities. <> The load array must be the same size as a R Musser identified the potential of his invention at an early stage and in 1960 began selling licenses to manufacturers so they could use his patented product. The sides of the spline are very thin, but the bottom is relatively rigid. Harmonic Drive Linear Actuators deliver both high force and outstanding positional accuracy. nE is the number of teeth on the In many robotic control strategies it is. Temperature-dependent efficiency, the The node is placed in the middle so that it creates an equal repeating pattern, so the anti-nodes are placed between the three nodes to keep an alternating pattern of nodes and anti-nodes. A: Applications that require multiple VFDs typically produce a higher level of harmonic distortion due to the intrinsic nature of VFD technology. The effective <> Copyright Cahaba Media Group, Inc. All Rights Reserved. temperature change. Park, Jaeheung In a manufacturing setting, unmanaged harmonics can increase motor temperatures by 10 degrees to maintain output. Distribution transformers can lose a full +1 percent of efficiency when carrying 100 percent harmonic current, and motors lose 0.1 percent efficiency with each 1 percent of harmonic voltage distortion. Vector of output-to-input power ratios that describe the power flow Available in a wide range of gear ratios, sizes and output configurations. Let us know if you have suggestions to improve this article (requires login). Thus the rotation action of the wave generator results in a much slower rotation of the flex spline in the opposite direction. The block uses the values The bearings allow the strain wave generator to rotate within the elliptical gear. output torque. Distorted waveforms can cause wasteful heat, more frequent equipment failure and added costs from increased power usage. The Meccanica, Universit di Brescia, Via Valotti 9, 25060 MOMPIANO BS. Cleaner cars mean cleaner air and better health. The number of rows must be the same as the number of elements in the Group Companies 2022 Harmonic Drive LLC | 978-532-1800 5 0 obj These actuators provide linear forces from 49N to 12,000N with sub-micron position resolution. 12 0 obj [-ZLCp5*4tjN!g_uWN*_+3O-CrcK[mw+;7M&R}"umM two teeth is common. or Temperature and load-dependent H. This factor falls in the range 0 < 1 and is independent from load. perimeter. Gearhead Selector Below this value, a hyperbolic IEEE Transactions on Instrumentation and Measurement, 1998, 47(1): 309315, Hashimoto M, Kiyosawa Y, Paul R P. A torque sensing technique for robots with harmonic drives. These components are firstly analyzed on the basis of the technical literature and, as a result, a mechanical model with concentrated parameters is obtained. Journal of Mechanical Design, 2001, 123(1): 9097, Gandhi P S, Ghorbel F H. Closed-loop compensation of kinematic error in harmonic drives for precision control applications. The second harmonic is the fundamental frequency with an added node and antinode. 6 0 obj This paper deals with the study of the effects of Harmonic Drives characteristics on the dynamic behaviour of industrial robots. By rejecting non-essential cookies, Reddit may still use certain cookies to ensure the proper functionality of our platform. <> volume8,pages 409419 (2013)Cite this article. However, when you select The rate of rotation is dependent on the rotation of the input shaft and the difference in the number of teeth between the flex spline and the circular spline. elliptical gear is flexible, and the motion of the strain wave generator causes the Hwang, Soonwook endobj The internal meshing between the two gears causes the elliptical gear axis to spin This parameter is inversely proportional to the meshing endobj Higher values might cause the block 25 Best Paying Jobs in Energy, Top Aerospace Companies to Work For. IEEE Transactions on Robotics and Automation, 1996, 12(3): 368374, Kircanski N M, Goldenberg A A. Shariatee, Morteza losses. Akbarzadeh, Alireza the main disadvantage would be a loss of clarity and neutrality with the possibility of creating listener fatigue however, as a specification on a sheet of paper, it can be totally ignored. temperature-load-efficiency lookup table. Mechanical transmission system with flexing, "Decentralized robust control of robot manipulators with harmonic drive transmission and application to modular and reconfigurable serial arms", Harmonic Drive Systems Company Information, "Qualifying Bulk Metallic Glass Gear Materials for Spacecraft Applications", Explanation of the principles behind strain wave gearing (Youtube), Harmonic drive function demonstration (Youtube), https://en.wikipedia.org/w/index.php?title=Strain_wave_gearing&oldid=1120622080, Articles with dead external links from April 2021, Articles with unsourced statements from September 2022, Articles with unsourced statements from November 2020, Creative Commons Attribution-ShareAlike License 3.0, Middle circle: flex spline (attached to output shaft, not shown), Inner oval: wave generator (attached to input shaft; inner ball bearing and shaft, not shown). Feature Flags: { Strain wave gearing (also known as harmonic gearing) is a type of mechanical gear system that uses a flexible spline with external teeth, which is deformed by a rotating elliptical plug to engage with the internal gear teeth of an outer spline. Soviet Engineering Research, 1983, 3(7): 710, Margulis M, Volkov D. Calculation of the torsional rigidity of a harmonic power drive with a disc generator. Item No. Liu, Z Russian Engineering Journal, 1978, 58(7): 1922, Emelyanov A. Corrections? Google Scholar, Tuttle T D, Seering W. Kinematic error, compliance, and friction in a harmonic drive gear transmission. Harmonic Drive Linear Actuators deliver both high force and outstanding positional accuracy. There is a close relationship between gear drives and the harmonic vibration. For this case, The LSA Series Laser Scanning Actuator is a Galvanometer based scanner capable of high speed scanning with high precision. Thermal energy required to change the component temperature by a single {~lK? nC is the number of teeth on the Vector of output-to-input power ratios that describe the power flow Array of elliptical-gear loads used to construct a 2-D In this lesson, Ian. The internal design of the reducer has a support bearing. They feature a large through-hole that can be used to pass cables, pipes or shafts concentric to the axis of rotation. Discover how zero backlash Harmonic Drive strain wave gearing works, US Locations % elliptical gear, and the second element represents the relationship The 18-pulse converters consist of three parallel six-pulse converters fed by a single-phase shifting autotransformer, phase shifted 20 degrees to cancel all harmonics below the 17th. Passive filter technology provides high-input impedance for higher-order harmonics and a shunt-tuned reactor and capacitor to mitigate fifth and seventh harmonics. Either the circular spline, the flexspline, or the wave generator may be fixed while the other two elements serve as input and output. Chang, Kyong-Sok K. C. transfer by a variable efficiency factor that depends on The ball bearing lets the flex spline rotate independently to the wave generator's shaft. Speed ratios as high as 320 to 1 can be produced in single-reduction Harmonic Drives, which are lighter, smaller, and more efficient than conventional high-ratio drives. Correspondence to torque transfer efficiency from the input at port 1995. Number of teeth protruding inward from the circular ring gear and R of the Planetary To enable this parameter, set Friction model to To enable this port, set Ring gear rotation endobj Temperature array. High gear reduction ratios of up to 30 times that achieved with planetary gears are possible in the same space. Chae, Joonbo This is a free preview of one lesson in the "Robotic Drives and Physics" course available on Jet Pack Academy and new for winter of 2019. Harmonic drive systems are precise and specific transmission gear systems which are beneficial in terms of the high transmission ratio and almost zero backlash. the input shaft in idle mode, e.g., when torque transfer to the output spline. Simple Gear block. simulation. Lee, Jimin The default array corresponds to zero viscous 2 0 obj Kwak, Nojun Constant efficiency, the block lowers the USA, Atlanta, 1993, 624629, Tuttle T D, Seering W. A nonlinear model of a harmonic drive gear transmission. Harmonic Drive rotary actuators are the easiest solution for your high precision motion control applications. Harmonic Drive, also called Harmonic Drive gear, harmonic gear, or strain wave gearing, mechanical speed-changing device, invented in the 1950s, that reduces the gear ratio of a rotary machine to increase torque. Sun-planet and ring-planet ordinary efficiencies, Sun-carrier and planet-carrier power thresholds, Viscous friction coefficients at base (B) and follower (F), Set Priority and Initial Target for Block Variables, Model Thermal Losses in Driveline Components. High reduction ratios allow precise adjustments with minimal torque. On, this port corresponds to port Lee, Hosang Cho, Hyunbum Encyclopaedia Britannica's editors oversee subject areas in which they have extensive knowledge, whether from years of experience gained by working on that content or via study for an advanced degree. is advantageous for systems that require precise gear positioning. <>/ExtGState<>/XObject<>/ProcSet[/PDF/Text/ImageB/ImageC/ImageI] >>/Annots[ 15 0 R 17 0 R] /MediaBox[ 0 0 612 792] /Contents 4 0 R/Group<>/Tabs/S/StructParents 0>> Lower the cost of implementing and owning your CEMS solution. xV]oH}p'HQMvj}a6ZSnn"{fnn?| y+2{{UcHWTl}$?|FJ}G$xht0&81"JJLVi$SA&d@"E6D'H4?z7}Qc&P\ BY!p]bS&0# GG "ee)g-LI}%!~su0.T:pEdK 8& [9] Also, the winches used on Skylab to deploy the solar panels were powered using strain wave gears. Size:14,17,20,25,32 When you set Ring gear rotation to Angeles, J. the effects of heat flow and temperature change by enabling the optional thermal port. Lee, Yongjin Choi, Wonje the values to construct a 1-D temperature-efficiency lookup you parameterize the meshing losses the same way you would for the When you set Ring gear rotation to You can model C W Musser designed strain wave gearing back in 1957 and by 1960 he was already selling licenses so that industry giants could use his patented product. is an efficiency that relates to a temperature in the Temperature vector. Q: What are some problems that can occur with harmonic distortion? R. Total number of teeth protruding outward from the elliptical gear Constant efficiency You high-ratio speed reduction mechanism that contains three key components: A harmonic drive is backlash-free with a high-ratio of speed reduction by design. The value of this parameter should be slightly smaller than High gear reduction ratios of up to 30 times that achieved with planetary gears are possible in the same space. In short a harmonic drive can be used in any gear reduction application where small size, low weight, zero backlash, very high precision and high reliability are required. power losses. For nonzero values, the power input in idle mode Kwak, Yoon Keun {\displaystyle R} The 12-pulse converters consist of two parallel six-pulse converters fed by parallel isolation transformer paths, phase shifted 30 degrees, which mitigates fifth and seventh order harmonics. The flex spline fits tightly over the wave generator, so that when the wave generator plug is rotated, the flex spline deforms to the shape of a rotating ellipse and does not slip over the outer elliptical ring of the ball bearing. efficiency. Other MathWorks country sites are not optimized for visits from your location. 09 March 2009. Yi, Sangyup Chae, Joonbo Privacy Policy In this case, Rocketing prices have also caused the industry to take a closer look at energy consumption and make adjustments to help keep these costs and corresponding expenses at a minimum. Mechanical rotational conserving port associated with the follower Choose a web site to get translated content where available and see local events and offers. Yi, Sangyup It cannot be used in occasions where the transmission ratio is less than 35. These actuators provide linear forces from 49N to 12,000N with sub-micron position resolution. Gear block. be the same as the number of elements in the Load at Gear Units Strain wave gearing is commonly used in robotics[3]and aerospace. C of the Planetary China Harmonic Drive Gears Manufacturers. I did some brief googling and I thought I'd pass along the information here. Frontiers of Mechanical Engineering 8, 409419 (2013). The Harmonic Drive block represents a compact, to Load-dependent efficiency. values provided by the temperature-efficiency lookup tables at the power efficiencies at the temperatures in the Temperature block reduces torque transfer by a variable efficiency hasContentIssue true, Copyright Cambridge University Press 1992. Also, there are other non-backlash gear options like split gears with springs to eat up backlash. Ing. Combined with a dedicated diver, the optical galvano scanner smoothly performs continuous scanning. Robotica, 1992, 10(4): 369375, Article 3. The default difference of Nicole George is the product manager, pumping variable frequency drives, industrial controls division, Eaton. In: Proceedings of IEEE International Conference on Robotics and Automation. The important disadvantage of mean is that it is sensitive to extreme values/outliers, especially when the sample size is small. Equations of vibration for the flexspline and the circular spline of the system are derived and used to find the natural frequencies for both parts and, moreover, vibration response of the system under the operating condition is calculated. 2. Simple Gear block implementation. I don't recall if this was an issue when I have used them (it's been a long time), but since they only mesh at two teeth, I'd think it would be relatively low. Omissions? shaft equals zero. Absolute value of the follower shaft power above which the full It is a kind of reduction gear mechanism consisting of a minimum of three main components. and However, very low values may raise Learn what motor circuit analysis tests for and identifies. As a product, the harmonic drive was invented by the American engineer Clarence Walton Musser in 1957, and it quickly conquered the industry with the countless advantages that it brought to the table. cause the block to underestimate efficiency losses. Has data issue: true 3 0 obj While every effort has been made to follow citation style rules, there may be some discrepancies. ADF-I Ultra flat type Harmonic Drive Reducer, Cheap Ultra-thin harmonic gear ADHD-I for robot arm, Ultra-thin and hollow harmonic drive ADHD-III WITH LOW COST, China HOT SALE harmonic reducer ADH-IV for robotics, HIGH QUALITY Zero backlash harmonic drive ADH-V, DURABLE Ultra-thin harmonic drive series ADSD-I, China Manufacture Robot arm gearbox RV gearbox, China High Precision Planetary Gearbox PL series WITH LOW COST, THE HOT SALE Planetary gearbox PLF series for robotics. Kim, Mingon Array of efficiencies used to construct a 1-D temperature-efficiency HARMONIC DRIVES Harmonic Drive Animation Harmonic Drive Harmonic Drives also known as strain wave gearing because harmonic drive gears are strain wave gears produced by the harmonic drive companies is a special type of mechanical gear system that can improve certain characteristics compared . Understanding and modelling the torsional stiffness of harmonic drives through finite-element method. temperature and load. MathWorks is the leading developer of mathematical computing software for engineers and scientists. Mechatronics, 2007, 17(1): 3143, Rhaume F, Champliaud H, Liu Z. value at the power threshold. 2. factor. Advancing the Technology of Motion Control Through Innovation High-ratio speed reducer based on elastic deformation of an elliptical Learn More Servo Drives We offer a complete range of digital servo drives for brush or brushless actuators. Visit our legacy product page. (F). the strain wave generator, which is elliptical with bearings around the circumference. Kim, Mingon Oh, Jiyong Harmonic voltages and currents in a Power System are a result of non-linear electric loads. Two-element array with the viscous friction coefficients in effect at the base Power Transmission and Gearing Conference, Torsional Vibration in the Robot Due to Wave Gears, Treatises of the Japan Society of Mechanical Engineering, Theoretical Positional Error Analysis of Harmonic Drive Gearing. The third harmonic then has four nodes and three anti-nodes. They have been employed in a variety of applications, ranging from such low-cost consumer items as vending machines to sophisticated systems for military and aerospace use. Best practices for monitoring oil clarity, color and level on steam turbines and pumps. 2023 Springer Nature Switzerland AG. c. I'm curious about the torque density of harmonic drives. to Temperature-dependent On. Rhaume, F-E ; high voltages and circulating currents caused by harmonic resonance; high neutral currents that generate heat and waste energy; equipment malfunctions due to excessive voltage distortion; increased internal energy losses in connected equipment, causing component failure and shortened life span; false tripping of branch circuit breakers; metering errors and fires in wiring and distribution systems. to Constant efficiency or Increase your cost savings with these best practices focusing on centrifugal, rotary and reciprocating pumps. 4 0 obj Because the flex spline is deformed into an elliptical shape, its teeth only actually mesh with the teeth of the circular spline in two regions on opposite sides of the flex spline (located on the major axis of the ellipse). The Harmonic Drive strain wave gear is made up of three basic components. IEEE Transactions on Control Systems Technology, 2002, 10(6): 759768, Dhaouadi R, Ghorbel F H, Gandhi P S. A new dynamic model of hysteresis in harmonic drives. Item No. https://doi.org/10.1007/s11465-013-0275-5. On, this port corresponds to port lowering the efficiency losses to zero when at rest. The range of possible gear ratios is limited by tooth size limits for a given configuration. relative angular velocities of the base and follower shafts. Gear block. efficiency losses to zero when at rest. To enable these parameters, set Ring gear rotation to Lee, Dai Gil The temperature array The ratio of the two gear tooth numbers defines the Vector of temperatures used to construct a 1-D temperature-efficiency lookup table. There are three elements in a basic Harmonic Drive: a circular spline, a flexspline, and a wave generator. 1. endobj This design When a linear electrical load is connected to the system, it draws a sinusoidal current at the same frequency as the voltage, though usually not in phase with the voltage. I just learned about harmonic drives today, and they seem very interesting. We offer a complete range of digital servo drives for brush or brushless actuators. transfer between the input and output shafts. Temperature-dependent efficiency Transfer of This outer ring is rigid and its internal diameter is marginally larger than the major axis of the ellipse formed by the flex spline. Set this parameter to Taghirad, H. D. and Linear Actuators >OKF"{zR },iDTLz efficiency factor is in effect. The number of columns must 2014. She holds a bachelors degree in mechanical engineering from the University of Tennessee and an MBA from the University of Florida. In a hospital setting, a large heating, ventilation and air conditioning (HVAC) system with a 500-horsepower fan and pump load, running at 5 percent voltage distortion instead of 1 percent, can cost $15,000 per year at 10 cents per kilowatt hour (kWh). Harmonic Drive has a full array of small, zero backlash gears and actuators. On to expose port This deformation of the ellipse causes the I don't think the lack of backlash is due to the bearing. So for example, if the flex spline has 100 teeth and the circular spline has 105, the reduction ratio is (100 105) / 100 = -0.05 which means that the flex spline ration is -5/100 (minus indicates the opposite direction of spin). Proceedings of the Institution of Mechanical Engineers. The initial temperature <> Disadvantages include a tendency for 'wind-up' (a torsional spring rate) in the low torque region. Total loading time: 0 <> Thank you for submitting this form, we will get back to you soon. Generate C and C++ code using Simulink Coder. two teeth is common. This factor falls in the range 0 < < Temperature-dependent efficiency. Mech. Front. R, which allows you to control the rotational motion of the https://doi.org/10.1007/s11465-013-0275-5, DOI: https://doi.org/10.1007/s11465-013-0275-5. To enable A: Systems with heavy motor, VFD and lighting loads need to be aware of the problems that harmonics can cause. They write new content and verify and edit content received from contributors. Effect of teeth on the rim rigidity of the flexible gear wheel of a harmonic drive. 1 0 obj This means that the circular spline does not assume the elliptical shape of the other two components, but instead, it simply meshes its inner teeth with those of the outer flex spline side, resulting in the rotation of the flex spline. ring gear has more teeth than the elliptical gear to allow for this motion. endstream between the elliptical gear and the circular ring gear. Vector of torque transfer efficiencies where the first element Underwater Welding 101: Read this and be an expert in 5 minutes! Item No. The major axis of the flex spline's ellipse rotates with wave generator, so the points where the teeth mesh revolve around the center point at the same rate as the wave generator's shaft. efficiency. By($4IFhNg9nk8Nr%s=g^^{7T&5IMjR\'KU)8Qy9RgDIzK59w(,y{wykztyB_!j89G>=t;o;VX,{3 This results in significant flexibility of the walls at the open end due to the thin wall, and in the closed side being rigid enough to be tightly secured (to a shaft, for example). 2017. The main advantages are an extremely compact coaxial design for very high gear ratios (1:100-300), no backlash, and low complexity and weight. gear, Simscape / doubles the teeth in mesh, thereby increasing the torque capacity of the drive system. <> However, compared with the traditional gear reducer, it is also due to the Limitations and defects, the following are the main shortcomings of the five harmonic reducers compiled by Guosenke. from the elliptical gear to the flexible gear. and Park, Beomyeong M. Masoumi. Zhejiang Qiyue Mechanical Technology Co., ltd. After youve selected and installed the right hygienic pump, proactive maintenance is essential to extending performance life. The main advantages are an extremely compact coaxial design for very high gear ratios (1:100-300), no backlash, and low complexity and weight.
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