efficiency The block reduces torque Harmonic voltages and currents in a Power System are a result of non-linear electric loads. from the strain wave generator to the elliptical gear. The best. The material takes up this wavy motion by flexing according to the rotation of the input shaft and also creates an elliptical shape. To enable this port, set Ring gear rotation On, this port corresponds to port Sim, Jaehoon On this Wikipedia the language links are at the top of the page across from the article title. 2022 Harmonic Drive LLC | 978-532-1800 Visit our legacy product page. C of the Planetary S of the Planetary After youve selected and installed the right hygienic pump, proactive maintenance is essential to extending performance life. On. 2.There is a large-diameter hollow shaft hole in the middle of the cam of the wave generator. 2. It operates on a principle different from that of conventional speed changers. Answer (1 of 2): I'm assuming you're referring to home audio systems. Item No. We offer a complete range of digital servo drives for brush or brushless actuators. values may raise the computational cost of simulation. to Constant efficiency or When you set Ring gear rotation to The block uses Ghorbel, F.H. To enable this parameter, set Friction model <> There is a close relationship between gear drives and the harmonic vibration. View all Google Scholar citations Thermal conserving port associated with heat transfer. Remote Monitoring Key to Equipment Reliability and Unplanned Downtime. Q: What are the different types of low harmonic solutions? efficiency. Musser in a 1957 patent[5] while he was an advisor at United Shoe Machinery Corp (USM). A: Harmonics are distorted electrical waveforms that introduce inefficiencies into the electrical system. From Beverly Hills to the Hollywood Hills . These components are firstly analyzed on the basis of the technical literature and, as a result, a mechanical model with concentrated parameters is obtained. The Harmonic Drive block represents a compact, IEEE Transactions on Robotics and Automation, 1996, 12(3): 368374, Kircanski N M, Goldenberg A A. efficiency The block determines the They write new content and verify and edit content received from contributors. IEEE Transactions on Industrial Electronics, 2003, 50(6): 11651171, Xu L, Zhu C, Qin L. Parametric vibration for electromechanical integrated electrostatic harmonic drive. efficiency. the computational cost of simulation. Temperature-dependent The flex spline and wave generator are placed inside the circular spline, meshing the teeth of the flex spline and the circular spline. Harmonic drives have wide applications in various domains, from large and hard working machine tools, to the medical and electronic equipment with small components and silence functioning, due to. https://doi.org/10.1007/s11465-013-0275-5, DOI: https://doi.org/10.1007/s11465-013-0275-5. To enable this parameter, set Friction model What are the main components of the harmonic reducer? Shin, Seho Find out about our exciting new product lines! temperature-and-load-dependent efficiency models. Servo Drives The array values must These are well suited for applications where high torque density is of paramount importance. the port, set Friction model to Temperature-dependent and Item No. Poor heat dissipation conditions. MEu:+ Vector of output-to-input power ratios that describe the power flow xV]oH}p'HQMvj}a6ZSnn"{fnn?| y+2{{UcHWTl}$?|FJ}G$xht0&81"JJLVi$SA&d@"E6D'H4?z7}Qc&P\ BY!p]bS&0# GG "ee)g-LI}%!~su0.T:pEdK 8& Lee, Yisoo Gear block. Gear Units are typically housed zero backlash Harmonic Drive strain wave gears with a precision output bearing & flange. endobj On. [4] It can provide gear reduction but may also be used to increase rotational speed[citation needed], or for differential gearing. The Google Scholar, Ghorbel F H, Gandhi P S, Alpeter F. On the kinematic error in harmonic drive gears. The default difference of } MathWorks is the leading developer of mathematical computing software for engineers and scientists. rotation to Off. Motus Labs creates next-generation precision gears that maximize efficient motor and encoder solutions, deliver superior actuator performance, and accelerate new agile use cases into the market. Chang, Kyong-Sok K. C. Discover how zero backlash Harmonic Drive strain wave gearing works, US Locations from the elliptical gear to the flexible gear. gear reduction ratio is. Quality Certification 1 0 obj California sunsets. Servo Gearheads Lee, Dai Gil <> Choi, Wonje Array of temperatures used to construct an efficiency lookup table. The electrically driven wheels of the Apollo Lunar Rover included strain wave gears. Looking for an older product or a replacement part? The effective Lu, Wen The block exposes port Hours 8:00am - 5:00pm ESTMonday through Friday, This site uses cookies to provide you with more responsive and personalized service. Updates? you parameterize the meshing losses the same way you would for the Temperature array. This is a preview of subscription content, access via your institution. Tax calculation will be finalised during checkout. This is mainly thanks to the elliptical bearing fitted on the outer rim of the input shaft allowing the free rotation of the flex spline. 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). 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 . degree. Managers are increasingly concerned with operational efficiency. Park, Beomyeong 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. 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). Also, obtained vibration equations are utilized to study the effects of different involved parameters such as the geometry of the flexspline and its gear tooth, eccentricity, and unbalancing on the vibrational behavior of the system. (F). Jung, Jaesug nC is the number of teeth on the Specially designed for phase adjusting and differential gear applications, these component sets and gear units are ideal for adjusting registration or phasing of shafts. Rhaume, F-E However, very low values may raise Gear Units Selector Kim, Sanghyun Compound drives can produce ratios as high as 1,000,000 to 1. Item No. elliptical gear, and the second element represents the relationship Dynamic Simulation of Harmonic Gear Drives Considering Tooth Profiles Parameters Optimization. endobj The array values must increase from left to right. 1996. elliptical gear-circular gear. power transmitted during simulation. the temperature. and The 18-pulse converters consist of three parallel six-pulse converters fed by a single-phase shifting autotransformer, phase shifted 20 degrees to cancel all harmonics below the 17th. Our design service is provided free of charge in most cases. The flex spline is shaped like a shallow cup. A low harmonic VSD uses and insulated-gate bipolar transistor (IGBT) input bridge and cancels the harmonics within the VSD system in the first place. Park, Sumin Pitch errors neutralised. 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). This can reduce the life of a motor by 50 percent. gear array. Render date: 2023-03-04T13:32:36.581Z USA, Cincinnati, 1990, 368373, Chapter . R efficiencies at the temperatures in the Temperature Russian Engineering Journal, 1978, 58(7): 1922, Emelyanov A. the number of teeth on the circular ring gear. 2023 Springer Nature Switzerland AG. Below this value, a Good article, A few questions/comments:a. hyperbolic tangent function smooths the efficiency factor to one, The array the expected angular velocity during simulation. In many robotic control strategies it is. and Item No. 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. Q: Which markets do low harmonic drive solutions serve? The range of possible gear ratios is limited by tooth size limits for a given configuration. Harmonic Drive, also called Harmonic Drive gear, harmonic gear, or strain wave gearing, mechanical speed-changing device, invented in the 1950s, that reduces the gear ratio of a rotary machine to increase torque. Kim, Mingon single column of the efficiency matrix. Rocketing prices have also caused the industry to take a closer look at energy consumption and make adjustments to help keep these costs and corresponding expenses at a minimum. ; 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. Vector of power thresholds above which full efficiency factors apply. elliptical gear transmits torque to the output shaft while rotating within the ring 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. Future generations will thank you. This is connected to an element called wave generation which has an elliptical shape and is encircled by an elliptical ball bearing. The reduction ration is given by: (number of flex spline teeth number of circular spline teeth) / number of flex spline teeth. the efficiency factor from zero when at rest to the full efficiency 3.It has a fully sealed structure and is easy to . Most applications secure the circular spline and use the Flexspline to transmit the rotation.There are more than two teeth meshed all the time; some are well engaged and others are either increasing or decreasing their engagement as the wave generator rotates. Gears. They produce wasteful heat and can cause plant issues and fees from local power utilities. To enable this parameter, set Friction model These inherent and spectacular properties result in using this mechanism in robotic and space sciences where the precision and lightwieght play an important role. alters the component efficiency according to an efficiency vector that you and follower shafts. In: Proceedings of IEEE International Conference on Robotics and Automation. block smooths the efficiency factors between zero when at rest and the factor. To enable this parameter, set Ring gear 6 0 obj Off. Mechanical rotational conserving port associated with the circular % Kim, Mingon We use cookies to distinguish you from other users and to provide you with a better experience on our websites. 25 Best Paying Jobs in Energy, Top Aerospace Companies to Work For. Array of elliptical-gear loads used to construct a 2-D Copyright Cahaba Media Group, Inc. All Rights Reserved. Temperature-dependent efficiency. Mechanical Design Engineering Career, Famous Engineers: The 10 Who Changed The World, Engineering Problems: 5 Hot Challenges for Future Engineers, Solar Powered System Extracts Drinking Water From Dry Air, Planetary Gears a masterclass for mechanical engineers. Higher values might Disadvantages include a tendency for 'wind-up' (a torsional spring rate) in the low torque region. elliptical gear array. As a product, the harmonic drive was invented by the American engineer Clarence Walton Musser in 1957, and it quickly conquered the industry with the countless advantages that it brought to the table. These losses can cause a dramatic decrease in the life span of fan and pump motors due to extra heating in the motor stator. Q: What are some problems that can occur with harmonic distortion? However, very low Taking the 2021 Ferrari F8 Spider on a sunset drive in Los Angeles California USA. to construct a 1-D temperature-efficiency lookup table. elliptical gear is flexible, and the motion of the strain wave generator causes the A hyperbolic tangent function smooths Item No. Different reduction ratios are set by changing the number of teeth. Q: What are the costs associated with harmonics? For more information, visit eaton.com. I think it's simply a function of the large gear ratio, so the backlash is negligible. The temperature array shaft and the flexible spline. This is the sun gear. Masoumi, M., Alimohammadi, H. An investigation into the vibration of harmonic drive systems. 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 . By($4IFhNg9nk8Nr%s=g^^{7T&5IMjR\'KU)8Qy9RgDIzK59w(,y{wykztyB_!j89G>=t;o;VX,{3 Gearhead Selector GPM Announces New Hires and Staff Promotions. simulation. 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. R of the Planetary Lee, Yongjin Net torque (idle) acting on To enable this port, set Friction model to 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. International Applied Mechanics, 1973, 9(12): 13551358, Shuvalov S. Calculation of harmonic drives with allowance for pliancy of links. Torque transfer efficiency () between base and values provided by the temperature-efficiency lookup tables at the power A unique and useful characteristic of the Harmonic Drive is its ability to transmit motion through sealed walls. "useRatesEcommerce": false Examples include aerospace applications, robotics, electric vehicles, medical x-ray and stereotactic machines, milling and lathe machines, flexo-printing machines, semiconductor equipment, optical measuring machines, woodworking machines and camera head pans and tilt axes. The number of rows must be the same as the number of elements in the Lee, Hosang Planetary Gear block. To enable this parameter, set Friction model Downloads. When a linear electrical load is connected to the system, it draws a sinusoidal current at the same frequency as the voltage, though usually not in phase with the voltage. Gear. <> Performance matched precision gearing, motors, and encoders are designed to provide a power dense, cost effective solution. Russian Engineering Journal, 1979, 59(10): 59, Sinkevich Y B. To transfer these loads, the flex spline is fitted inside the circular spline which is a round gear featuring internal teeth. 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). Correct me if I'm wrong, but I don't think the flex spline actually rotates.It basically undulates in and out, based on the motion of the wave generator, meshing one tooth on each edge of the spline with the circular spline at a time. Absolute value of the follower shaft power above which the full Jeong, Kwang Seop and efficiency. The flexspline has fewer teeth and consequently a smaller effective diameter than the circular spline. Proceedings of the Institution of Mechanical Engineers. By using this site you agree the Privacy Policy and Terms of Service. Temperature-dependent efficiency, the Other MathWorks country sites are not optimized for visits from your location. R. Total number of teeth protruding outward from the elliptical gear endobj <> table. Matrix of component efficiencies used to construct a 2-D Disadvantages tendency for wind . Mousavi, Ali 11 0 obj Q: What is IEEE-519? As a guideline, the power threshold should be lower than the expected 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? In case the circular spline also rotates, the following relation holds between the rotational velocities of the three parts:[8]. These inherent and spectacular properties result in using this mechanism in robotic and space sciences where the precision and lightwieght play an important role. One of the many advantages of a harmonic drive is the lack of backlash due to the unique design. The vector elements must increase from left to right. 09 March 2009. vector. Two-element array with the viscous friction coefficients in effect at the base Lee, Dai Gil Published online by Cambridge University Press: In: Proceedings of IEEE International Conference on Robotics and Automation. Q: Why is low harmonic technology used? efficiency, Temperature and load-dependent Absolute value of the follower shaft angular velocity above which the Harmonic Drive Linear Actuators deliver both high force and outstanding positional accuracy. to underestimate efficiency losses. Alimardani, Salman The two arrays must be the You can also select a web site from the following list: Select the China site (in Chinese or English) for best site performance. High gear reduction ratios of up to 30 times that achieved with planetary gears are possible in the same space. The load array must be the same size as a It was first used successfully in 1960 by USM Co. and later by Hasegawa Gear Works under license of USM. Q: What are harmonics? the values to construct a 1-D temperature-efficiency lookup Efficiency array. [ 7 0 R] Size:14,17,20,25,32 Simple Gear block implementation. two teeth is common. When you set Ring gear rotation to In a manufacturing setting, unmanaged harmonics can increase motor temperatures by 10 degrees to maintain output. (K F:m}lNM)\. The strain wave gearing uses the elasticity of metal. lowering the efficiency losses to zero when at rest. Larger efficiency values correspond to greater torque A more modern approach is either to use a low harmonic VSD or a closed loop Active Filter. simulation The block ignores meshing Phase Adjusters c. I'm curious about the torque density of harmonic drives. Thermal energy required to change the component temperature by a single power quality. In this lesson, Ian. Harmonic Drive Linear Actuators deliver both high force and outstanding positional accuracy. reconfigurable ratios within a standard housing. The value of this parameter should be slightly larger than to normalize the load-dependent efficiency. This deformation of the ellipse causes the torque transfer efficiency from the input at port tangent function smooths the efficiency factor to one, lowering the Option to include inertia due to ring gear motion in your doubles the teeth in mesh, thereby increasing the torque capacity of the drive system. Kwak, Nojun High-ratio speed reducer based on elastic deformation of an elliptical Active front-end drives have insulated gate bipolar transistors (IGBT)front-end technology that pulls relatively linear power from the line and uses an L-C-L (inductor-capacitor-inductor) filter to mitigate the IGBT switching noise. Kim, Minsung So for example, if the flex spline has 100 teeth and the circular spline has 105, the reduction ratio is (100 105) / 100 = -0.05 which means that the flex spline ration is -5/100 (minus indicates the opposite direction of spin). You can model Shariatee, Morteza This paper presents a vibration analysis of harmonic drive systems using . Choose a web site to get translated content where available and see local events and offers. Set this parameter to and Lee, Jimin Selecting the proper grease is critical to the life and performance of the gear. The basic concept of strain wave gearing (SWG) was introduced by C.W. Provided by the Springer Nature SharedIt content-sharing initiative, Over 10 million scientific documents at your fingertips, Not logged in Shariatee, Morteza This is in addition to the costs of the reduced life span of the motors caused by the heating effects of the harmonic currents. On, this port corresponds to port endobj stream The array must be the same size as the Passive filter technology provides high-input impedance for higher-order harmonics and a shunt-tuned reactor and capacitor to mitigate fifth and seventh harmonics. In todays business environment, expectations are only getting higher. elliptical gear. efficiency. ), Study on tooth profiles of the Harmonic drives, Vibration of a Strain Wave Gearing in an Industrial Robot, Int. to Constant efficiency. to Temperature and load-dependent A harmonic drive is a compact, light-weight and high-ratio torque transmission device which is used in many electrically actuated robot manipulators. Composite Structures, 1999, 47(1): 827833, Article Kim, Sanghyun values for the block variables before simulating. must be the same size as the efficiency array in temperature-dependent efficiency factor is in effect. <> represents the relationship between the strain wave generator and the 1995. {~lK? to either: Temperature-dependent Item No. 10 0 obj endobj The elliptical plug is inserted into the bearing, forcing the bearing to conform to the elliptical shape but still allowing rotation of the plug within the outer bearing. or Temperature and load-dependent International Journal of Robotics Research, 1997, 16(2): 214239, Rong H. Research About Vibration of Harmonic Drives. However, compared with the traditional gear reducer, it is also due to the Limitations and defects, the following are the main shortcomings of the five harmonic reducers compiled by Guosenke. 3. Harmonic Planetary If the wave generator (the input) rotates clockwise while the circular spline is fixed, the flexspline (the output) will rotate or roll inside the circular spline at a much slower rate in a counterclockwise direction. The following are the advantages of a harmonic reducer: (1) Compared with other reducers, the harmonic reducer has a smaller volume and simpler structure, and it generally consists of three basic . Lee, Myunggi The Ring gear rotation parameter determines how you 3 0 obj This can reduce the life of a motor by 50 percent. This includes minimizing costs, capital expenses and unplanned downtime. These actuators provide linear forces from 49N to 12,000N with sub-micron position resolution. 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. gear. Chae, Joonbo Journal of Computers, 2012, 7(6): 14291436, www.assiotdirectory.com [available online], School of Mechanical Engineering, Semnan University, Semnan, 35195-363, Iran, You can also search for this author in <> threshold. Below these values, a hyperbolic tangent Front. Harmonic Drive systems are useful in increasing the output torque in gears used in milling, in manufacturing, and in machines that use robotic arms. Off, the block calculates the efficiencies using the Array of efficiencies used to construct a 1-D temperature-efficiency parameterize meshing losses. (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 block uses the values Accordingly, the industries and applications in which our gears and actuators are used are widely diversified. The bearings allow the strain wave generator to rotate within the elliptical gear. Equations of vibration for the flexspline and the circular spline of the system are derived and used to find the natural frequencies for both parts and, moreover, vibration response of the system under the operating condition is calculated. Group Companies USA, Atlanta, 1993, 624629, Tuttle T D, Seering W. A nonlinear model of a harmonic drive gear transmission. relative angular velocities of the base and follower shafts. 5 0 obj ]BJ, There are very few mechanical engineering elements that can claim such an operational efficiency level. Contact Us, Rotary Actuators Web browsers do not support MATLAB commands. The efficiency of a typical harmonic drive measured on real shaft to shaft tests by the manufacturer goes up to 90%. The LSA Series Laser Scanning Actuator is a Galvanometer based scanner capable of high speed scanning with high precision. 1995. vertices of the elliptical gear to move. Content may require purchase if you do not have access. simulation. Zhejiang Qiyue Mechanical Technology Co., ltd. In: Proceedings of IEEE International Conference on Robotics and Automation. 12 0 obj On, this port corresponds to port The main disadvantages of five harmonic reducers, What are the advantages of high-precision harmonic reducer. counter to the elliptical strain wave generator. The difference in the number of teeth can be changed to accommodate different reduction ratios and thus different specialized needs and requirements. 2009. When you set Ring gear rotation to The major axis of the flex spline's ellipse rotates with wave generator, so the points where the teeth mesh revolve around the center point at the same rate as the wave generator's shaft. 4 0 obj The flex spline fits tightly over the wave generator, so that when the wave generator plug is rotated, the flex spline deforms to the shape of a rotating ellipse and does not slip over the outer elliptical ring of the ball bearing.