Kinematic error and backlash in wave gears with external deformation

Wave gears with external deformation wave generators are one of the scantily studied design varieties of harmonic gear drives suitable for use in high-precision single or multi-motor electromechanical drives. There are few publications in the scientific literature on the features of such wave gears except those written by the authors. This paper presents the results of experimental study of kinematic errors in wave gears with wave generators of external deformation. The effect of the geometric parameters of the wave gearing (the pressure angle and the angle of encirclement) on the components of the total kinematic error, that is, the local kinematic error, cyclic error and backlash error is studied. The results of this study extend our knowledge of the advantages of these wave gears over the gears with internal deformation. The use of this type of wave gears in industry may result in interesting designs of drives with high kinematic accuracy and torsion rigidity.

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