| The spacial coordinates of robot's hands are composed with movements of joints and its precision is decided by the precision of drive system. The harmonic gear drive has many virtues such as high transmission ration, small weight, good transmission precision, etc, so this drive is adopted in robot widely.In this paper, error sources and the relation between error source and transmission error of harmonic gear drive are deeply analyzed based on its working principle and structure. Then synthesize these errors by using stochastic error theory to write out estimative formula that calculate transmission error. The frequency spectrum and the beet frequency phenomenon also were carried out, the reason from that the beet frequency occur has been found and simulated.These jobs are useful for improving the performances of harmonic gear drive and opening up its using scope. |
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