Dynamic Response of a Harmonic Drive
碩士 === 國立中山大學 === 機械工程學系研究所 === 88 === In this thesis, the dynamic responses of harmonic drive (H.D.) systems under different operating conditions are investigated. The numerical simulation and the experimental measurements of harmonic drive systems are included in this thesis. The effects of flexsp...
| Main Authors: | , |
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2000
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| Online Access: | http://ndltd.ncl.edu.tw/handle/4aqxmg |
| Summary: | 碩士 === 國立中山大學 === 機械工程學系研究所 === 88 === In this thesis, the dynamic responses of harmonic drive (H.D.) systems under different operating conditions are investigated. The numerical simulation and the experimental measurements of harmonic drive systems are included in this thesis. The effects of flexspline of harmonic drive, i.e., the torsional stiffness and the damping ratio on the response of corresponding system are studied .Lagrange’s equation is employed to derive the equation of motion of the system. The system equation with a nonlinear torsional stiffness is solved by using the 6th order Runge-Kutta method. Comparison between numerical simulation results and experimental measured data indicate that the proposed harmonic drive model is accurate and feasible for simulating the dynamic response of a harmonic drive system.
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