Analysis and control of kinematic error in harmonic gear drive mechanisms

Harmonic gear drives have found increasing application in high performance and precision servomechanisms due to their attractive physical and dynamic properties. However all harmonic gear drives exhibit undesireable nonlinear kinematic error and the ability to control and compensate this error is limited to obtaining an appropriately accurate and controllable representative mathematical model. A comprehensive literature search revealed a wide effort towards characterization with little or no effort to modeling and control. This work adopts existing models of kinematic error characterized in the literature and presents modeling techiques such that for any model of kinematic error used, the PD-control law will effectively regulate the control variable to the desired position. Additionally, asymptotic stability result reveals that in case of PD control, sensors should be placed to measure at the load end.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

Masters

Discipline thesis:degree_discipline

Engineering

Grantor

Rice University

Year dc:date.issued

1997

Author dc:creator

• Were, Muhammed

Advisor dc:contributor.advisor

• Ghorbel, Fathi H.

• Mechanical engineering

Statement dc:rights

• Copyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1911/17142

OAI identifier oai:identifier

oai:repository.rice.edu:1911/17142