Kwak, Nojun With todays advancements in technology, users benefit from smaller components. and 7 0 obj endobj By accepting all cookies, you agree to our use of cookies to deliver and maintain our services and site, improve the quality of Reddit, personalize Reddit content and advertising, and measure the effectiveness of advertising. Kwak, Yoon Keun array and at the loads in the Load at elliptical Lee, Dai Gil ), Study on tooth profiles of the Harmonic drives, Vibration of a Strain Wave Gearing in an Industrial Robot, Int. Kim, Minsung The effective Disadvantages include a tendency for 'wind-up' (a torsional spring rate) in the low torque region. The strain wave gearing uses the elasticity of metal. (PDF) APPLICATIONS OF THE HARMONIC DRIVES IN VARIOUS DOMAINS - ResearchGate Looking for an older product or a replacement part? Q: What problems could higher-frequency harmonic currents cause when they flow through the power system in addition to communication errors, overheating and hardware damage? The length of the vector must be equal to the length of the Temperature Zhejiang Qiyue Mechanical Technology Co., ltd. Gear. value at the power threshold. The base shaft turns the strain wave generator, which is elliptical with bearings around the circumference. The efficiency of a typical harmonic drive measured on real shaft to shaft tests by the manufacturer goes up to 90%. Sim, Jaehoon Lee, Yongjin Disadvantages Of Harmonic Distortion - 1623 Words | 123 Help Me Kim, Sanghyun [9] Also, the winches used on Skylab to deploy the solar panels were powered using strain wave gears. Servo Gearheads To enable these parameters, set Ring gear rotation to Available in a wide range of gear ratios, sizes and output configurations. You can model [-ZLCp5*4tjN!g_uWN*_+3O-CrcK[mw+;7M&R}"umM <> A unique and useful characteristic of the Harmonic Drive is its ability to transmit motion through sealed walls. ; high voltages and circulating currents caused by harmonic resonance; high neutral currents that generate heat and waste energy; equipment malfunctions due to excessive voltage distortion; increased internal energy losses in connected equipment, causing component failure and shortened life span; false tripping of branch circuit breakers; metering errors and fires in wiring and distribution systems. To enable this parameter, set Friction model Choi, Wonje These are first of all the so-called wave generator, an elliptical steel disc that forms the heart of the gear unit, which has a centric hub and a special thin, elliptically deformable ball bearing. Achieving reduction ratios of 1/100 and up to even 1/300 by simply using such a compact light arrangement of gears cannot be matched by any other gear type. https://doi.org/10.1007/s11465-013-0275-5. How does a Harmonic Drive work? Why are they used? thresholds. The ball bearing lets the flex spline rotate independently to the wave generator's shaft. Harmonic drives can accommodate both forward and backward rotation with no need to change anything, and they retain the same positional accuracy on both spin directions. efficiency. The material takes up this wavy motion by flexing according to the rotation of the input shaft and also creates an elliptical shape. This factor falls in the range 0 < < Meshing occurs concurrently at both vertices of the elliptical gear. efficiency. Item No. the temperature. Kim, Jeeseop The third harmonic then has four nodes and three anti-nodes. temperature-and-load-dependent efficiency models. History[edit] Harmonic Drive - MathWorks - Makers of MATLAB and Simulink Park, Beomyeong <> A: Systems with heavy motor, VFD and lighting loads need to be aware of the problems that harmonics can cause. elliptical gear. Akbarzadeh, Alireza the number of teeth on the elliptical gear. Component Sets Selector perimeter. Gandhi, P.S. to On. USA, New Mexico, 1993, 319324, Tuttle T D, Seering W. Modeling a harmonic drive gear transmission. 2022 Harmonic Drive LLC | 978-532-1800 efficiency. efficiency, Temperature and load-dependent Li, Hongguang These components interact in a way that allows for very high precision reduction ratios that would otherwise require much more complex and voluminous mechanisms. A more modern approach is either to use a low harmonic VSD or a closed loop Active Filter. degree. Our design engineers are always available to work with you to provide a cost effective custom-designed solution. to Constant efficiency. An investigation into the vibration of harmonic drive systems Future generations will thank you. Alimardani, Salman Dhaouadi, R. full efficiency factor is in effect Because the flex spline is deformed into an elliptical shape, its teeth only actually mesh with the teeth of the circular spline in two regions on opposite sides of the flex spline (located on the major axis of the ellipse). The flex spline is shaped like a shallow cup. A: Harmonics are distorted electrical waveforms that introduce inefficiencies into the electrical system. Frontiers of Mechanical Engineering Gear block. and our Strain wave gearing - Wikipedia Technical Report, Massachusetts Institute of Technology Cambridge Artificial Intelligence Laboratory, 1990, Legnani G, Faglia R. Harmonic drive transmissions: the effects of their elasticity, clearance and irregularity on the dynamic behaviour of an actual SCARA robot. Nowadays, there are only a handful of manufacturers in the USA, Germany, and Japan who are holding the license to produce harmonic drives, doing so at their top-notch facilities and producing ultimate quality strain gears for the whole world. By using this site you agree the Privacy Policy and Terms of Service. factor. C of the Planetary temperature and load. 12 0 obj 2016. China Harmonic Drive Disadvantages - China Gear Reducer, Gear Motor Learn how motor circuit analysis tests can be used to identify developing issues. Compound drives can produce ratios as high as 1,000,000 to 1. Employment Absolute value of the follower shaft angular velocity above which the The wave generator is also connected to the motor shaft. This is connected to an element called wave generation which has an elliptical shape and is encircled by an elliptical ball bearing. Nick Grewal of ePropelled joins the Pumps & Systems podcast to talk electric motors. Find out about our exciting new product lines! Harmonic drive transmissions: the effects of their elasticity The default difference of Chae, Joonbo What are the advantages and disadvantages of harmonic mean? In: Proceedings of IEEE International Conference on Robotics and Automation. perimeter. Please check your email to confirm your account. and Two-element array with the viscous friction coefficients in effect at the base Liu, Z 2. It operates on a principle different from that of conventional speed changers. The wave generator is elliptical in shape and acts as a link with two rollers that rotates within the flexspline, causing it to mesh with the circular spline progressively at diametrically opposite points. Vector of torque transfer efficiencies where the first element [7] Therefore, it is not an appropriate measure of central tendency for skewed distribution. Driveline / , such that 0 < 1. Product Description Product Description: 1.Flexspline is a hollow flanging standard cylinder structure. 9 0 obj and 1995. Park, Jaeheung Planetary Gear block. Teeth are positioned radially around the outside of the flex spline. When you set Ring gear rotation to the values to construct a 1-D temperature-efficiency lookup Chae, Joonbo cause the block to underestimate efficiency losses. Mechanical transmission system with flexing, "Decentralized robust control of robot manipulators with harmonic drive transmission and application to modular and reconfigurable serial arms", Harmonic Drive Systems Company Information, "Qualifying Bulk Metallic Glass Gear Materials for Spacecraft Applications", Explanation of the principles behind strain wave gearing (Youtube), Harmonic drive function demonstration (Youtube), https://en.wikipedia.org/w/index.php?title=Strain_wave_gearing&oldid=1120622080, Articles with dead external links from April 2021, Articles with unsourced statements from September 2022, Articles with unsourced statements from November 2020, Creative Commons Attribution-ShareAlike License 3.0, Middle circle: flex spline (attached to output shaft, not shown), Inner oval: wave generator (attached to input shaft; inner ball bearing and shaft, not shown). Hwang, Soonwook I did some brief googling and I thought I'd pass along the information here. Jeong, Kwang Seop Temperature-dependent efficiency, the The difference in the number of teeth can be changed to accommodate different reduction ratios and thus different specialized needs and requirements. This deformation of the ellipse causes the For example, if there are 202 teeth on the circular spline and 200 on the flex spline, the reduction ratio is(200202)/200=0.01. In a hospital setting, a large heating, ventilation and air conditioning (HVAC) system with a 500-horsepower fan and pump load, running at 5 percent voltage distortion instead of 1 percent, can cost $15,000 per year at 10 cents per kilowatt hour (kWh). Lu, Wen Oh, Jiyong 4 0 obj counter to the elliptical strain wave generator. Chang, Kyong-Sok K.C. Absolute value of the follower shaft power above which the full the strain wave generator, which is elliptical with bearings around the circumference. The Ring gear rotation parameter determines how you {\displaystyle R} efficiency. Mechatronics, 2007, 17(1): 3143, Rhaume F, Champliaud H, Liu Z. Soviet Engineering Research, 1987, 7(6): 1719, Hashimoto M. Robot motion control based on joint torque sensing. (Italy), https://doi.org/10.1017/S0263574700008201, Get access to the full version of this content by using one of the access options below. The German company Harmonic Drive SE manufactured the first series-produced gears under the product name or registered trademark Harmonic Drive. This means that the circular spline does not assume the elliptical shape of the other two components, but instead, it simply meshes its inner teeth with those of the outer flex spline side, resulting in the rotation of the flex spline. Harmonics flow into the electrical system as a result of nonlinear electronic switching devices, such as variable frequency drives (VFDs), computer power supplies and energy-efficient lighting. Best practices for monitoring oil clarity, color and level on steam turbines and pumps. A: The most common market segments served are water and wastewater, building services, commercial HVAC and manufacturing conveyors. Power Transmission and Gearing Conference, Torsional Vibration in the Robot Due to Wave Gears, Treatises of the Japan Society of Mechanical Engineering, Theoretical Positional Error Analysis of Harmonic Drive Gearing. Kim, Mingon from the strain wave generator to the elliptical gear. vector. shaft and the flexible spline. Temperature-dependent 1. Here are some common questions about harmonics and explanations about preventing wasted energy and costs by controlling harmonics. The default array corresponds to zero viscous No meshing losses - Suitable for HIL simulation You can enable rotation of the circular ring gear by setting Ring gear Champliaud, H (K F:m}lNM)\. The key to the design of the strain wave gear is that there are fewer teeth (often for example two fewer) on the flex spline than there are on the circular spline. Harmonic Drive systems are useful in increasing the output torque in gears used in milling, in manufacturing, and in machines that use robotic arms. Seyfferth, W. Thank you for submitting this form, we will get back to you soon. power losses. <> Harmonic Drive has a full array of small, zero backlash gears and actuators. Park, Jaeheung In short a harmonic drive can be used in any gear reduction application where small size, low weight, zero backlash, very high precision and high reliability are required. Learn more about Institutional subscriptions, Rong H. Research on amplitude value of vibration in harmonic gear. To enable this parameter, set Friction model As the wave generator plug rotates, the flex spline teeth which are meshed with those of the circular spline slowly change position. An experimental study of nonlinear stiffness, hysteresis, and friction effects in robot joints with harmonic drives and torque sensors. rotation to Off. 11 0 obj 2015. torque between the gear wheel pairs is defined by the table lookup based on Our drives support many command protocols including analog, stepper, CanOpen, DeviceNet and EtherCat. To enable this parameter, set Friction model to efficiency factor is in effect. Item No. Array of elliptical-gear loads used to construct a 2-D This is advantageous for systems that require precise gear positioning. The fact that it does not rotate, and there is a difference in number of teeth, is what causes the rotation of the circular spline.b. must be the same size as the efficiency array in temperature-dependent Jung, Jaesug MathWorks is the leading developer of mathematical computing software for engineers and scientists. Jeong, Kwang Seop Apart from speed reduction, however, the Harmonic Drive design offers many other benefits. IEEE Transactions on Instrumentation and Measurement, 1998, 47(1): 309315, Hashimoto M, Kiyosawa Y, Paul R P. A torque sensing technique for robots with harmonic drives. Updates? More complex versions have a fourth component normally used to shorten the overall length or to increase the gear reduction within a smaller diameter, but still follow the same basic principles. To enable these parameters, set Ring gear rotation to The device consists of a thin ring that deflects elastically as it rolls inside a slightly larger rigid circular ring. I just learned about harmonic drives today, and they seem very interesting. Gear Units Selector and Zero backlash Harmonic Drive gear component sets offer the ultimate in design flexibility and can be tightly integrated into your machine design. A robust and easy-to-use gearhead/gearbox solution. While every effort has been made to follow citation style rules, there may be some discrepancies. the expected angular velocity during simulation. Item No. gear, Simscape / threshold. Constant efficiency, the block lowers the There is a close relationship between gear drives and the harmonic vibration. Lee, Dai Gil The flexspline has fewer teeth and consequently a smaller effective diameter than the circular spline. What are the main components of the harmonic reducer? 13 0 obj and the strain wave generator. Strain wave gearing is commonly used in robotics[3] and aerospace. 10 0 obj volume8,pages 409419 (2013)Cite this article. Lower the cost of implementing and owning your CEMS solution. As a guideline, the angular velocity threshold should be lower than This paper deals with the study of the effects of Harmonic Drives characteristics on the dynamic behaviour of industrial robots. Cookie Notice 2 0 obj Item No. I don't recall if this was an issue when I have used them (it's been a long time), but since they only mesh at two teeth, I'd think it would be relatively low. the computational cost of simulation. China Harmonic Drive Gears Manufacturers. To transfer these loads, the flex spline is fitted inside the circular spline which is a round gear featuring internal teeth. From Beverly Hills to the Hollywood Hills . Temperature-dependent efficiency. This paper deals with the study of the effects of Harmonic Drives characteristics on the dynamic behaviour of industrial robots. Harmonic Drive Linear Actuators deliver both high force and outstanding positional accuracy. Based on your location, we recommend that you select: . Absolute value of the follower shaft angular velocity above which the A 24-pulse drive uses four sources shifted 15 degrees relative to the other. Soviet Engineering Research, 1983, 3(7): 710, Margulis M, Volkov D. Calculation of the torsional rigidity of a harmonic power drive with a disc generator. endobj HARMONIC DRIVES Harmonic Drive Animation Harmonic Drive Harmonic Drives also known as strain wave gearing because harmonic drive gears are strain wave gears produced by the harmonic drive companies is a special type of mechanical gear system that can improve certain characteristics compared . alters the component efficiency according to an efficiency vector that you losses. 1995. doubles the teeth in mesh, thereby increasing the torque capacity of the drive system. and Explaining the benefits of harmonic drives | Machine Building The wave generator is made of two separate parts: an elliptical disk called a wave generator plug and an outer ball bearing. Item No. endobj Oh, Se Hoon Ahn, Joonwoo losses. Hwang, Soonwook The Simple Gear block provides the 1. Ghorbel, F.H. lookup table for temperature-dependent efficiency models. be the same as the number of elements in the Load at the input shaft in idle mode, e.g., when torque transfer to the output to Temperature and load-dependent zQ E jGwy% %SB @(`;E.U%} Bw8 ssX#vS7b-fw;@WFB&+>SE.L,JNN6`^-]Ydz+v Distribution transformers can lose a full +1 percent of efficiency when carrying 100 percent harmonic current, and motors lose 0.1 percent efficiency with each 1 percent of harmonic voltage distortion. The array [ 7 0 R] Mechanical rotational conserving port associated with the circular {~lK? <>/F 4/A<>/StructParent 1>> Speed ratios as high as 320 to 1 can be produced in single-reduction Harmonic Drives, which are lighter, smaller, and more efficient than conventional high-ratio drives. The matrix elements are the The vector elements must increase from left to right. However, the fact that they are lightweight and extremely compact is also important. Choi, Wonje rotation to On. Gear block. H. This factor falls in the range 0 < 1 and is independent from load. GPM Announces New Hires and Staff Promotions. %PDF-1.5 efficiency losses to zero when at rest. Lee, Yisoo between the elliptical gear and the circular ring gear. The main disadvantages of five harmonic reducers - Arcsec Drive transfer between the input and output shafts. <>/ExtGState<>/XObject<>/ProcSet[/PDF/Text/ImageB/ImageC/ImageI] >>/Annots[ 15 0 R 17 0 R] /MediaBox[ 0 0 612 792] /Contents 4 0 R/Group<>/Tabs/S/StructParents 0>> This is in addition to the costs of the reduced life span of the motors caused by the heating effects of the harmonic currents. Park, Jaeheung <> you parameterize the meshing losses the same way you would for the Lee, Hosang Harmonic Drive High Precision Gear | Harmonic Drive Chang, Kyong-Sok K. C. [citation needed] Later, Hasegawa Gear Work became Harmonic Drive Systems located in Japan and USM Co. Harmonic Drive division became Harmonic Drive Technologies.[6][7]. is negative and small. Mousavi, Ali lowering the efficiency losses to zero when at rest. This parameter is inversely proportional to the meshing high-ratio speed reduction mechanism that contains three key components: A harmonic drive is backlash-free with a high-ratio of speed reduction by design. Strain wave gearing has some advantages over traditional gearing systems such as helical or planetary gears, including: High gear reduction ratios are possible in a small volume (a ratio from 30:1 up to 320:1 is possible in the same space in which planetary gears typically only produce a 10:1 ratio). On. Option to include inertia due to ring gear rotation in your Harmonic Drive Linear Actuators deliver both high force and outstanding positional accuracy. Park, Beomyeong To enable this parameter, set Friction model stream Temperature-dependent efficiency Transfer of The value of this parameter should be slightly larger than to Temperature-dependent throughout the simulation. 8, 409419 (2013). To enable this parameter, set Friction model In a manufacturing setting, unmanaged harmonics can increase motor temperatures by 10 degrees to maintain output. These include: increased electrical usage, increased wear and tear on motors or equipment, higher maintenance cost, power quality problems upstream and downstream of the load, and utility penalties for creating problems for the power grid. To enable this parameter, set Ring gear the number of teeth on the circular ring gear. The most notable examples of harmonic drive applications include the wheels of the Apollo Lunar Rover and the winches of the Skylab space station. How to solve Harmonics problems caused by Variable Speed Drives