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Chapter 7
Angle transmission accuracy indicates the difference between the logical rotating angle and the actual
rotating angle as the angle transmission error when any rotating angle is given as an input.
Example of measurement
θ
θ
θ
er
=
1
-
R
2
θer ............... Angle transmission error
θ
............... Input rotating angle
1
θ
............... Actual output rotating angle
2
Ｒ ............... Reduction ratio of Harmonic Drive (i=1:R)
Angle transmission accuracy (Full speed ratio)
Unit
accuracy (Full speed ratio)
-3
×10
rad
arc min
Chapter 7 Angle transmission accuracy
Angle transmission accuracy
Angle transmission
2.9
10
-
-
13
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