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A new dynamic model of hysteresis in harmonic drives

DSpace at IIT Bombay

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Title A new dynamic model of hysteresis in harmonic drives
 
Creator DHAOUADI, R
GHORBEL, FH
GANDHI, PS
 
Subject mathematical model
behavior
robot
harmonic drive gear
hysteresis
nonlinear ordinary
differential equation
nonlinear stiffness
 
Description In this paper, we propose a new dynamic model to describe the hysteresis phenomenon in harmonic drives. The experimental observation of the dynamic torque-displacement relationship for a harmonic drive shows a hysteresis characteristic indicating the simultaneous presence of energy storage and energy dissipation mechanisms. To completely characterize these mechanisms and yet have a simple representation for control, we develop a new hysteresis model using the heredity concept of dynamic systems. This model represents the hysteresis phenomenon by a combination of a nonlinear stiffness component and a nonlinear damping component leading to a mathematically well-posed nonlinear differential equation. The parameters of the model are identified using optimization techniques. We present some important mathematical properties of the model that give insight into model behavior and thus establish a mathematical basis for control. Numerical simulations in comparison with experimental data using our Harmonic Drive Test Apparatus verify the accuracy of the proposed model to represent the complex hysteresis dynamics of harmonic drives.
 
Publisher IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
 
Date 2011-07-31T17:29:25Z
2011-12-26T12:53:05Z
2011-12-27T05:40:13Z
2011-07-31T17:29:25Z
2011-12-26T12:53:05Z
2011-12-27T05:40:13Z
2003
 
Type Article
 
Identifier IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 50(6), 1165-1171
0278-0046
http://dx.doi.org/10.1109/TIE.2003.819661
http://dspace.library.iitb.ac.in/xmlui/handle/10054/8184
http://hdl.handle.net/10054/8184
 
Language en