Table of Contents
Advertisement
Chapter 8 Vibration
Chapter 8
Vibration
The angle transmission error elements of Harmonic Drive may appear as rotating vibration of the load
side inertia.
Especially when the characteristic frequency of the vibration system including Harmonic Drive overlaps
that of the chassis or load inertia, it generates a resonant condition that amplifies angle transmission
error elements of Harmonic Drive. Observe Chapter 9 Design and Precautions on assembly.
Two angle transmission error elements of Harmonic Drive correspond to a cycle of the input shaft from
the mechanical viewpoint of Harmonic Drive. Therefore, the frequency is double the input frequency as it
is the main element of the error.
If the characteristic frequency of the vibration system including Harmonic Drive is F=15 Hz, the input
rotating speed (N) is expressed as shown below.
N =15/2･60 = 450r/min
The resonant condition is generated in the rotating speed area (450 r/min).
●How to obtain the characteristic frequency of the vibration system including Harmonic Drive
1
K
π
f
=
•
2
J
Symbol of the calculation formula
ｆ The characteristic frequency of the vibration system including Harmonic Drive : Hz
Ｋ Spring constant of Harmonic Drive: Nm/rad
2
Ｊ Load inertia: kg･m
14
Advertisement
Table of Contents
