Torsional vibration in the robot due to wave gears.

Abstract

Wave gears are widely used in order to drive the rotating parts of an industrial robot and many industrial units because it is coaxial and has a large speed ratio. However a torsional vibration in the robot, which occurrs owing to the wave gears at a certain number of revolutions, becomes a problem for the robot which has to move a driven part with high accuracy. Therefore the effects of the accuracy of components and assembly errors of the wave gears on the torsional vibration of the robot are made clear experimentally.