Global Sensitivity Analysis of Chosen Harmonic Drive Parameters Affecting Its Lost Motion |
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| Authors: | Slavomir Hrcek Frantisek Brumercik Lukas Smetanka Michal Lukac Branislav Patin Adam Glowacz |
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| Affiliation: | 1.Department of Design and Mechanical Elements, Faculty of Mechanical Engineering, University of Zilina, 010 26 Zilina, Slovakia; (S.H.); (L.S.); (M.L.); (B.P.);2.Department of Automatic Control and Robotics, Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering, AGH University of Science and Technology, 30-059 Krakow, Poland; |
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| Abstract: | ![]()
The aim of the presented study was to perform a global sensitivity analysis of various design parameters affecting the lost motion of the harmonic drive. A detailed virtual model of a harmonic drive was developed, including the wave generator, the flexible ball bearing, the flexible spline and the circular spline. Finite element analyses were performed to observe which parameter from the harmonic drive geometry parameter group affects the lost motion value most. The analyses were carried out using 4% of the rated harmonic drive output torque by the locked wave generator and fixed circular spline according the requirements for the high accuracy harmonic drive units. The described approach was applied to two harmonic drive units with the same ratio, but various dimensions and rated power were used to generalize and interpret the global sensitivity analysis results properly. The most important variable was for both harmonic drives the offset from the nominal tooth shape. |
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| Keywords: | harmonic drive lost motion torsional backlash FEA analysis global sensitivity analysis Sobol indices |
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