The Estimation of the Influence of Manufacturing Faults in a Harmonic Drive on the Kinematic Error

The past few decades have seen the wide use of harmonic drives in aircraft and aerospace industries, electromechanical drives of industrial manipulators and various machine tools. This may be explained by the fact that while having small overall dimensions and low weight, harmonic drives can provide motion transmission with low composite deviation, high level of torque stiffness and coefficient of efficiency. The paper assesses the degree of influence of faults in individual links of a two-wave harmonic drive with a disk-type wave generator on the drive’s kinematic error, determined by the shoulder and line of action method. The results obtained using the proposed method and the experimental results are compared.

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