Theory and Practice of Harmonic Drive Mechanisms

Abstract

Among different mechanical drives of industrial application harmonic drive mechanisms (HDM) are distinguished by minimal materials consumption and overall dimensions, provide high efficiency, torsion rigidity and low kinematic error. Due to this they are widely used in mechanical actuators, robotics, aerial drives, supporting and turning arrangements of follow-up systems, dial indicators and other precise mechanisms. Combined design technique of different-type harmonic drive mechanisms and system concept to design process of electromechanical drives of follow-up servo is presented. Design system is made as a set of interconnected interacted computer application software which shortens design term and improves quality of the process. Drive designs based on internal and external gearing wave generating are considered, many of them are produced at the state-of-the-art level and implemented in many batch production servos.