書誌事項
- タイトル別名
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- Theoretical Analysis of the Vibration in an Industrial Robot due to a Strain Wave Gearing
- ハドウ ハグルマ ソウチ オ ユウスル ロボットケイ ノ シンドウ ニ カンスル リロンテキ コウサツ
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抄録
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.
収録刊行物
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- 山口大学工学部研究報告
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山口大学工学部研究報告 39 (1), 93-100, 1988
山口大学工学部
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詳細情報 詳細情報について
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- CRID
- 1050564287406500608
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- NII論文ID
- 110000216767
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- NII書誌ID
- AN00244228
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- ISSN
- 03727661
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- NDL書誌ID
- 3201473
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- 本文言語コード
- ja
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- 資料種別
- departmental bulletin paper
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- データソース種別
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- IRDB
- NDL
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