Theoretical Analysis of the Vibration in an Industrial Robot due to a Strain Wave Gearing
Memoirs of the Faculty of Engineering, Yamaguchi University Volume 39 Issue 1
Page 93-100
published_at 1988
Title
波動歯車装置を有するロボット系の振動に関する理論的考察
Theoretical Analysis of the Vibration in an Industrial Robot due to a Strain Wave Gearing
Creators
Hidaka Teruaki
Creators
Ishida Takeshi
Creators
Zhang You-lin
Creators
Sentoku Hirofumi
Creators
Sasahara Masakatsu
Creators
Tanioka Yoshihiro
Source Identifiers
A strain wave gearing (commonly known as harmonic drive gearing) has been widely used as the reduction gear drive in industrial robots. Assembling an industrial robot system with an input motor, a strain wave gearing and an output arm, the amplitude of vibration in the robot system had been measured previously. Translating the robot system into an equivalent vibration model, the vibration occurred in the robot system was analyzed theoretically to compare the theoretical value with the experimental one and to determine the cause of the vibration with following result : The amplitude of the vibration occurred in the robot system was influenced by the variation of the spring stiffness and by the composite error in meshing, due to the machining and assembly errors of elements.
Languages
jpn
Resource Type
departmental bulletin paper
Publishers
山口大学工学部
Date Issued
1988
File Version
Version of Record
Access Rights
open access
Relations
[ISSN]0372-7661
[NCID]AN00244228
Schools
工学部