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Electromechanical Simulation and Analysis of Displacement Failure of Input Shaft for Harmonic Drives

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Abstract

Axial displacement of the input shaft is one of the faults of harmonic drives in industrial robots. Aiming at finding a monitoring method of this kind of failure in this paper, the simulation of axial displacement failure is performed by establishing the electromechanical system model of the harmonic drive. The exponential LuGre friction model is used in the developed harmonic drive model, and an additional friction torque model caused by the axial displacement failure was established. The nominal load is input into the harmonic drive, and the simulation experiment was implemented with different degrees of input shaft axial displacement failure. The simulation result shows that the input shaft axial displacement failure of the harmonic drive affects the state (the internal current) of the drive motor. In the future, one can detect the axial displacement failure of the harmonic drives based on this finding.

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Acknowledgments

The research work described in this paper was supported by the Public Welfare Technology Application Research Project of Zhejiang Province Science and Technology Department (LGG18F030010) and National Natural Science Foundation of China (Nos. 51504228, 51575503).

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Authors and Affiliations

  1. School of Mechanical and Electrical Engineering, China Jiliang University, Xueyuan Street, Xiasha Higher Education Zone, Hangzhou, 310018, P. R. China

    Jianqiu Gao, Ling Wang, Kaixing Hong, Binrui Wang & Wenbo Na

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  1. Jianqiu Gao
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  2. Ling Wang
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  3. Kaixing Hong
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Correspondence to Ling Wang.

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Gao, J., Wang, L., Hong, K. et al. Electromechanical Simulation and Analysis of Displacement Failure of Input Shaft for Harmonic Drives. J Fail. Anal. and Preven. 19, 1010–1017 (2019). https://doi.org/10.1007/s11668-019-00687-x

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  • DOI: https://doi.org/10.1007/s11668-019-00687-x

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