谐波齿轮传动的传动误差建模与补偿

Transmission Error Modeling and Compensation of Harmonic Gear Transmission

针对谐波传动齿轮的角传动误差和静态定位误差很难实时精确测量和补偿的问题,建立了一种对谐波齿轮角传动误差及静态定位误差进行预测的数学模型,并探索了误差补偿的方法。在建模中,特别分析了微位移区域非线性弹性变形引起的角传动误差,以及各种常规研究中讨论过的同步分量;并应用具有滞回属性的滚动摩擦建模框架对非线性弹性分量进行了数学建模,最终将所提出的传动误差模型作为一种前馈补偿应用于模拟谐波齿轮传动系统。研究结果表明,所提出的建模和补偿方法能有效预测和补偿谐波传动系统的角传动误差,同时使其稳态散射降低40%,大大提高了传动系统的静态定位精度。

Aiming at the problem that it is difficult to accurately measure and compensate the angular transmission error and static positioning error of the harmonic drive gear in real time,a mathematical model for predicting the angular transmission error and static positioning error of the harmonic gear is established,and the error compensation method is explored.In the modeling,the angular transmission error caused by the nonlinear elastic deformation in the micro-displacement region and the synchronization components discussed in various conventional studies are analyzed in particular;and the rolling friction modeling framework with hysteretic properties is used to analyze the nonlinear elastic components.Mathematical modeling is carried out,and finally the proposed transmission error model is used as a feedforward compensation to simulate a harmonic gear transmission system.The research results show that the proposed modeling and compensation method can effectively predict and compensate the angular transmission error of the harmonic drive system,while reducing the steady-state scattering by 40%,which greatly improves the static positioning accuracy of the drive system.