空间控制技术与应用2023，Vol.49Issue(6)：1-16,16.DOI:10.3969/j.issn.1674-1579.2023.06.001
谐波减速器动力学特性与建模研究进展
Advances in Researches of Dynamic Characteristics and Models in Harmonic Drive System
摘要
Abstract
Harmonic drive systems are widely used in joints of space manipulators because of their low relative quality,compact structure and low costs.However,dynamic characteristics,including kinematic error,stiffness,and friction of harmonic drive systems,hinder the performance improvements of space manipulators,such as point-ing accuracy and stability.To overcome this problem,scholars research the experiments,analyses and models on the dynamic characteristics of harmonic drive systems.This paper reviews studies about kinematic error,stiffness and friction.Some research topics are presented.关键词
谐波减速器/运动误差/非线性刚度/非线性摩擦/动力学建模Key words
harmonic drive system/kinematic error/nonlinear stiffness/nonlinear friction/dynamic model分类
机械制造引用本文复制引用
张猛,熊宇聪,祝晓丽,梁骄雁,郭超勇,唐艺伟,肖曦..谐波减速器动力学特性与建模研究进展[J].空间控制技术与应用,2023,49(6):1-16,16.基金项目
国家自然科学基金资助项目(51977008)Supported by National Natural Science Foundation of China(51977008) （51977008）
