Harmonic Drives. Theory and Practice

The requirements to reliability, durability, accuracy and rigidity of drives for machines, machine-tools, industrial robots and automatic control systems have become more demanding in recent years. A whole research area has emerged, related to the development of precision machines and machine-tools with mechatronic units as well as control systems in rocket and space engineering that are based on mechanical transmissions that satisfy the aforementioned requirements. Amongst mechanical drives used in modern drive engineering, harmonic drives have the smallest overall dimensions and the least material intensity of production, while demonstrating high efficiency ratio, torsional rigidity and kinematic accuracy. It facilitates widespread introduction of harmonic drives in robotic engineering, antennas, positioning devices of servo-systems, indicating instruments and other precision mechanisms. A combined method of designing various harmonic drive schemes and a systematic approach to developing electromechanical drives of servomechanisms is described. The design system represents a complex of interconnected interactive dialog programs that can reduce the duration of the process and increase its quality. Drive designs that have harmonic drives with wave generators of internal and external deformation are studied. Many of these drives represent inventions and are implemented in mass-produced designs of automatic control systems.

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