Kozo Sasaki

Compensation for synchronous component of angular transmission errors in harmonic drive gearings

This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmission error model-based feedforward compensation is adopted to improve the positioning performance during both static and dynamic positioning motions. The proposed approach has been verified by experiments using a prototype with harmonic drive gearings.

Modeling and compensation for angular transmission error of harmonic drive gearings in high precision positioning

This paper presents a novel modeling and compensation approach for the angular transmission error in harmonic drive gearings. In the modeling, physical phenomena of the transmission error due to nonlinear elastic deformations in micro-displacement region are especially dealt with, as well as the synchronous component which has been discussed in a variety of conventional studies. Based on the analyses of the phenomena, the nonlinear elastic component is mathematically modeled by applying a modeling framework for the rolling friction with hysteresis attributes. The proposed transmission error model has been adopted to the positioning system as a model-based feedforward compensation manner. Experimental results using a prototype show the effectiveness of the proposed modeling and compensation.