Hamenaco elastic actuator harmonic gearbox CSD-20-160-2UF motion transfer. Harmonic drive is usually composed of three basic components, including a rigid wheel with inner teeth, a flexible wheel with outer teeth that can produce radial elastic deformation when working, and a wave generator installed in the flexible wheel internal transmission part wave, oval shape, with flexible rolling bearings in the outer ring. The number of external teeth of flexible wheel is less than the number of internal teeth of rigid wheel. When the wave generator rotates, the outer teeth of the flexible wheel corresponding to the long axis direction just completely engage the inner teeth of the rigid wheel

Similarly, because there is a return, the driving shaft must pass the gap caused by the return difference to drive the rotation of the slave wheel. In the gap area, the motor is in the no-load state and drives the antenna to rotate with a lot of kinetic energy. In this way, the oscillation of the antenna within =10° 'is not entirely due to the action of the moment of inertia of the antenna, but the action of the kinetic energy accumulated in the space region.



Previously, in order to simplify the problem, we analyzed the servo system in the hamenaco elastic actuator harmonic gear box CSD-20-160-2UF on the premise of assuming that the components of the gear transmission device in the system are rigid bodies. In fact, the gears, shafts and couplings in the gear transmission chain are not rigid bodies. They will produce a certain degree of elastic deformation and have a certain natural frequency when transferring torque.