Theoretical analysis of the vibration in a robot due to a strain wave gearing.

Abstract

A strain wave gearing has been widely used as the reduction gear drive in industrial robots. Transforming the robot system, which had been investigated experimentally in the previous paper, into an equivalent vibration model, the vibration occurring in the robot system was analyzed theoretically to compare the theoretical value with the experimental on and to determine the cause of the vibration with the following result. The amplitude of the vibration occurring in the robot system was influenced by the variation of the torsional stiffness and by the composite error in meshing due to the machining and assembly errors of elements.