Modeling of Transmission Compliance and Hysteresis Considering Degradation in a Harmonic Drive

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Abstract
Transmission compliance and hysteresis behaviors are associated with harmonic drives. The experimental observation of a harmonic drive showed that these behaviors are significantly degraded with increasing service time, and their accurate modeling is expected to improve the performance of the control system of harmonic drive-based devices such as robot manipulators. In this paper, a new model is proposed to capture transmission compliance and hysteresis and their degradation. The phenomenon is represented through a combination of the nonlinear stiffness component and the micro-sliding friction in the tooth engagement area. The proposed model considered the multi-tooth meshing and the interference effects of the reducer. The parameters of the model were identified using optimization techniques. Numerical simulations and experimental data using a specialized harmonic drive test device were compared to demonstrate the proposed model.
Funding Information
  • National Key Research and Development Program of China (2018YFB1304800)
  • Special Project for Research and Development in Key areas of Guangdong Province (2020B090926002)

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