Communications - Scientific Letters of the University of Zilina 2023, 25(2):B86-B94 | DOI: 10.26552/com.C.2023.025

Identification of Flexspline Parameters Affecting the Harmonic Drive Lost Motion Using the Global Sensitivity Analysis

Peter Weis ORCID...1, *, Lukáš Smetanka ORCID...1, Slavomír Hrček ORCID...1, František Brumerčík ORCID...1, Jakub Fiačan ORCID...1, Muhammad Irfan ORCID...2
1 Department of Design and Mechanical Elements, Faculty of Mechanical Engineering, University of Zilina, Zilina, Slovakia
2 Electrical Engineering Department, College of Engineering, Najran University, Najran, Kingdom of Saudi Arabia

The aim of this research was to find out the specific geometrical parameters of the harmonic drive with the greatest impact on its lost motion. Harmonic drive units are widely used in production automation, robotics and automated manufacturing systems. Virtual model of Harmonic Drive was examined using the finite element method. The analyses were performed with considering the real test conditions of high precision gearboxes with a lost motion value of 4 % of the nominal output torque. The analyses' results were then used to develop a unique approach to obtain a functional relationship between the input parameters defining the shape of the flexspline and the harmonic drive lost motion value. Subsequently, the global sensitivity analysis was performed to determine the degree of influence of the selected flexspline parameters on the harmonic drive kinematic accuracy.

Keywords: flexspline, torsional backlash, global sensitivity analysis, harmonic drive
Grants and funding:

This research was funded by Slovak Research and Development Agency, grant number APVV-18-0450 Research of the influence of design parameters of special transmissions with a high gear ratio with respect to kinematic properties.

Conflicts of interest:

The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

Received: November 8, 2022; Accepted: January 9, 2023; Prepublished online: February 2, 2023; Published: April 6, 2023  Show citation

ACS AIP APA ASA Harvard Chicago Chicago Notes IEEE ISO690 MLA NLM Turabian Vancouver
Weis, P., Smetanka, L., Hrček, S., Brumerčík, F., Fiačan, J., & Irfan, M. (2023). Identification of Flexspline Parameters Affecting the Harmonic Drive Lost Motion Using the Global Sensitivity Analysis. Communications - Scientific Letters of the University of Zilina, 25(2), B86-94. doi: 10.26552/com.C.2023.025
Share...
Download citation
  • BibTeX (.bib)
  • Bookends (.ris)
  • EasyBib (.ris)
  • EndNote (.enw)
  • EndNote 8 (.xml)
  • ISI WoS (.isi)
  • Medlars (.medlars)
  • Mendeley (.ris)
  • MODS (.xml)
  • Papers (.ris)
  • RefWorks (.txt)
  • RefManager (.ris)
  • RIS (.ris)
  • MS Word (.xml)
  • Zotero (.ris)
    • Open full article

    References

    1. MUSSER, C. W. Strain wave gearing. U.S. Patent No. 2,906,143. 29 September 1955.
    2. SHEN, Y. W., YE, Q. T. Theory and design of harmonic drive. Beijing, China Machine Press, 1985.
    3. GHORBEL, F. H., GANDHI, P. S., ALPETER, F. On the kinematic error in harmonic drive gears. Journal of Mechanical Design [online]. 2001, 123, p. 90-97. ISSN 1050-0472, eISSN 1528-9001. Available from: https://doi.org/10.1115/1.1334379 Go to original source...
    4. JEONG, H. S., OH, S. H. A study on stress and vibration analysis of a steel and hybrid flexspline for harmonic drive. Composite Structures [online]. 1999, 47(1-4), p. 827-833. ISSN 0263-8223, eISSN 1879-1085. Available from: https://doi.org/10.1016/S0263-8223(00)00060-X Go to original source...
    5. FOLEGA, P., WOJNAR, G., BURDZIK, R., KONIECZNY, L. Dynamic model of a harmonic drive in a toothed gear transmission system. Journal of Vibroengineering [online]. 2014, 16(6), p. 3096-3104. ISSN 1392-8716, eISSN 2538-8460. Available from: https://www.extrica.com/article/15571
    6. LI, S. T. A challenge to design of a new harmonic drive device. Applied Mechanics and Materials [online]. 2011, 86, p. 43-46. ISSN 1662-7482. Available from: https://doi.org/10.4028/www.scientific.net/AMM.86.43 Go to original source...
    7. SALTELLI, A., RATTO, M., ANDRES, T., CAPOLONGO, F., CARIBONI, J., GATELLI, D., SAISANA, M., TARANTOLA, S. Global sensitivity analysis. The primer. 1. ed. Chichester: John Wiley and Sons, Ltd, 2008. ISBN 978-0-470-05997-5.
    8. HRCEK, S., BRUMERCIK, F., SMETANKA, L., LUKAC, M., PATIN, B., GLOWACZ, A. Global sensitivity analysis of chosen harmonic drive parameters affecting its lost motion. Materials [online]. 2021, 14(17), 5057. eISSN 1996-1944. Available from: https://doi.org/10.3390/ma14175057 Go to original source...
    9. WANG, B., LIU, J., WANG, C. Measurement and analysis of backlash on harmonic drive. IOP Conference Series: Materials Science and Engineering [online]. 2019, 542, 012005. ISSN 1757-8981, eISSN 1757-899X. Available from: https://doi.org/10.1088/1757-899x/542/1/012005 Go to original source...
    10. SWIC, A., DRACZEW, A., GOLA, A. Method of achieving of thermo-mechanical treatment of low-rigidity shafts. Advances in Science and Technology - Research Journal [online]. 2016, 10(29), p. 62-70. ISSN 2299-8624. Available from: https://doi.org/10.12913/22998624/61934 Go to original source...
    11. AMEZKETA, M., IRIARTE, X., ROS, J. Dynamic model of a helical gear pair with backlash and angle-varying mesh stiffness. 2009.
    12. MAJCHRAK, M., KOHAR, R., LUKAC, M., SKYBA, R. The process of creating a computational 3D model of a harmonic transmission. MM Science Journal [online]. 2020, 13, p. 3926-3931. ISSN 1803-1269, eISSN 805-0476. Available from: https://doi.org/10.17973/MMSJ.2020_06_2020009 Go to original source...
    13. MAJCHRAK, M., KOHAR, R., KAJAN, J., SKYBA, R. 3D meshing methods of ball-rolling bearings. Transportation Research Procedia [online]. 2019, 40, p. 784-791. ISSN 2352-1457, eISSN 2352-1465. Available from: https://doi.org/10.1016/j.trpro.2019.07.111 Go to original source...
    14. MAJCHRAK, M., KOHAR, R., LUKAC, M., SKYBA, R. Creation of a computational 2D model of harmonic gearbox. In: Current Methods of Construction Design. Lecture Notes in Mechanical Engineering [online]. MEDVECKY, S., HRCEK, S., KOHAR, R., BRUMERCIK, F., KONSTANTOVA, V. (eds.). Cham: Springer, 2020.ISBN 978-3-030-33145-0, eISBN 978-3-030-33146-7, p. 95-103, Available from: https://doi.org/10.1007/978-3-030-33146-7_11 Go to original source...
    15. KALOS, M. H., WHITLOCK, P. A. Monte Carlo methods. 2. ed. Weinheim: Wiley-VCH, 2008. ISBN 978-3-527-40760-6. Go to original source...
    16. SOBOL, I. M. Sensitivity estimates for nonlinear mathematical models. Mathematical Modelling and Computational Experiments. 1993, 4, p. 407-414. ISSN 1061-7590.
    17. HOMMA, T., SALTELLI, A. Importance measures in global sensitivity analysis of nonlinear models. Reliability Engineering and System Safety [online]. 1996, 52, p. 1-17. ISSN 0951-8320, eISSN 1879-0836. Available from: https://doi.org/10.1016/0951-8320(96)00002-6 Go to original source...

    This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International License (CC BY 4.0), which permits use, distribution, and reproduction in any medium, provided the original publication is properly cited. No use, distribution or reproduction is permitted which does not comply with these terms.


    Return to the content