Test and analysis of three axis vibration of harmonic drives

Abstract

A new vibration testing method is introduced to measure three-axis vibration of harmonic drives used in industrial robots. To simulate the working state of industrial robots, a harmonic drive loading device was designed. In the case of loading, the vibration of a harmonic drive in three axes was measured. Experimental data was used to evaluate the vibration performance, analyze the vibration characteristics of the harmonic drive, and determine the cause of the vibration abnormality. The research results showed that the presented measuring method is helpful to monitor the vibration performance of harmonic drives, and control the quality of the product.