Friction Compensation of Harmonic Drive Gearing Based on Parallel Viscoelasto-plastic Friction Model

• Iwatani Masayoshi

  Kyushu University

• Kikuuwe Ryo

  Kyushu University

• Yamamoto Motoji

  Kyushu University

Bibliographic Information

Other Title

• 並列粘弾塑性摩擦モデルに基づく波動歯車減速機の摩擦補償
• ヘイレツネンダン ソセイ マサツ モデル ニ モトズク ハドウ ハグルマ ゲンソクキ ノ マサツ ホショウ

Abstract

This paper proposes a friction model for friction compensation of harmonic drive gearings. The model is composed of parallel viscoelasto-plastic elements and rate-dependent viscosity. Comparative experiments between the proposed model and the Generalized Maxwell slip (GMS) model have shown that the proposed model is advantageous especially in the region of presliding displacement. This paper also presents parameter identification method for the model.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 32 (5), 445-455, 2014

  The Robotics Society of Japan

Keywords

• Friction Compensation
• Friction Model
• Parameter Identification

Details

• CRID: 1390282679705068160
• NII Article ID: 130004889614
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.32.445
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 025599656
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I025599656
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed