Modeling and Parameter Identification of Harmonic Drive Systems

[+] Author and Article Information
H. D. Taghirad, P. R. Bélanger

Center for Intelligent Machines, Department of Electrical Engineering, McGill University, Montréal, H3A 2A7 Canada

J. Dyn. Sys., Meas., Control 120(4), 439-444 (Dec 01, 1998) (6 pages) doi:10.1115/1.2801484 History: Received May 10, 1996; Online December 03, 2007


The unique performance features of harmonic drives, such as high gear ratios and high torque capacities in a compact geometry, justify their widespread industrial application. However, harmonic drive can exhibit surprisingly more complex dynamic behavior than conventional gear transmission. In this paper a systematic way to capture and rationalize the dynamic behavior of the harmonic drive systems is developed. Simple and accurate models for compliance, hysteresis, and friction are proposed, and the model parameters are estimated using least-squares approximation for linear and nonlinear regression models. A statistical measure of variation is defined, by which the reliability of the estimated parameter for different operating condition, as well as the accuracy and integrity of the proposed model is quantified. By these means, it is shown that a linear stiffness model best captures the behavior of the system when combined with a good model for hysteresis. Moreover, the frictional losses of harmonic drive are modeled at both low and high velocities. The model performance is assessed by comparing simulations with the experimental results on two different harmonic drives. Finally, the significance of individual components of the nonlinear model is assessed by a parameter sensitivity study using simulations.

Copyright © 1998 by The American Society of Mechanical Engineers
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