Load-dependent Friction Laws of Three Models of Harmonic Drive Gearboxes Identified by Using a Force Transfer Diagram

Carlos Wilfrido Ponce Quiroga (1) , Gabriel Abba (1) , Jean-François Antoine (1) , Thibaut Raharijaona (1) , Philippe Garrec (2)

1 LCFC - Laboratoire de Conception Fabrication Commande
2 LIST (CEA) - Laboratoire d'Intégration des Systèmes et des Technologies

Industrial robotics and aerospace engineering widely use harmonic drive gearboxes for their reliability, high accuracy with zero backlash and high ratio torque transmission However, they present known problematic behaviors that affect their performance. The article deals with the first step towards the improvement of torque control of collaborative robots. We designed and developed two experimental setups to study three types of Harmonic Drive gearboxes. We identify the friction laws by using Force Transfer Diagrams. The results exhibit a new parabolic law of friction torque as a function of the transmitted torque.

Mots clés: harmonic drive; friction; torque; Torce Transfer diagram; collaborative robots

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique; Mécanique des solides [physics.class-ph]

Carlos Wilfrido Ponce Quiroga, Gabriel Abba, Jean-François Antoine, Thibaut Raharijaona, Philippe Garrec. Load-dependent Friction Laws of Three Models of Harmonic Drive Gearboxes Identified by Using a Force Transfer Diagram. 12th International Conference on Mechanical and Aerospace Engineering (ICMAE 2021), Jul 2021, Athens (on line), Greece. pp.239-244, ⟨10.1109/ICMAE52228.2021.9522368⟩. ⟨hal-03292998⟩