Precision Plant Mathematical Modeling of Positioning Devices with Strain Wave Gearing

Abstract

In this research, a high precision plant mathematical modeling approach is proposed for positioning devices with Strain Wave Gearing, as mechatronic actuators. The modeling can precisely reproduce actual responses of control states, such as torsional angle and torque current, by identifying nonlinear elements and properties in friction, stiffness, angular transmission errors, and cogging torque in the device mechanisms. Time responses of the control states by the precise model are comparatively evaluated with the actual responses, which clarify the effectiveness of the proposed modeling approach.