To highlight the key factors which influence the dynamic performance of the harmonic drive, a refined harmonic drive model considering nonlinear stiffness, kinematic error, and friction of the critical components is established. A dedicated experimental apparatus based on double motor twisting is constructed to measure the characteristics of harmonic drive, and the attribute parameters of the proposed model are identified. A series of experiments on the dynamic transmission error at different driving velocities are carried out to verify the proposed model. Based on the proposed model, the influence of different component stiffness on the velocity step response of the harmonic drive is analyzed. The results show that the influence of the component stiffness on the system dynamic response is more significant at high driving velocity, the increase of the stiffness of each component will decrease the dynamic transmission accuracy of harmonic drive, and the bearing radial stiffness is the most sensitive parameter to system’s dynamic response among all the stiffness factors.

中文翻译：

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谐波驱动的精细动态模型及其动态响应分析

为了突出影响谐波驱动器动态性能的关键因素，建立了考虑非线性刚度，运动误差和关键部件摩擦的精炼谐波驱动器模型。构建了一种基于双电机扭转的专用实验装置，以测量谐波驱动的特性，并确定了所提出模型的属性参数。针对不同的行驶速度进行了一系列动态传递误差的实验，以验证所提出的模型。基于提出的模型，分析了不同构件刚度对谐波驱动器速度阶跃响应的影响。结果表明，在高驱动速度下，部件刚度对系统动态响应的影响更大，