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	Fuzzy Impedance Control Based on a Built-in Torque Sensor in Harmonic Drive Gear 会议论文 OAI收割 2017 IEEE International Conference on Robotics and Biomimetics, Macau, China, December 5-8, 2017 作者: Zhu ZG(朱正国); Liu GW(刘国伟); Song YF(宋屹峰); Jiang Y(姜勇); Tan XW(谈晓伟) \| 收藏 \| 浏览/下载：36/0 \| 提交时间：2017/12/21 Impedance control Strain electrical measuring Harmonic drive gear Kalman filter
	Alternating stress dynamics analysis of harmonic gear flexible wheel (EI CONFERENCE) 会议论文 OAI收割 2012 International Conference on Electrical Insulating Materials and Electrical Engineering, EIMEE 2012, May 25, 2012 - May 27, 2012, Shenyang, Liaoning, China 作者: Li M. 收藏 \| 浏览/下载：38/0 \| 提交时间：2013/03/25 This article is the study of alternating stress of flexible wheel in harmonic gear drive system. Firstly then Finally according to elasticity theory to theoretically analyze flexible wheel stress based on the basic principle of sub-structure modal synthesis method based on the dynamics simulation use the software of UG to analyze the alternating stress simulation results of flexible wheel and compare theoretical results and simulation results to come conclusion. The results show that: altering stress simulation results of flexible wheel are coincident with theoretical simulation results PATRAN and ADAMS to carry out co-simulation have a deeper understand the stress change trend in the drive process of flexible wheel lay a foundation for further carrying out dynamics simulation of harmonic gear drive system. (2012) Trans Tech Publications Switzerland.
	Dynamic optimum design and analysis of cam wave generator for harmonic gear drive (EI CONFERENCE) 会议论文 OAI收割 2011 International Conference on Information and Automation, ICIA 2011, June 6, 2011 - June 8, 2011, Shenzhen, China Xiao Q.; Han X.; Jia H. 收藏 \| 浏览/下载：25/0 \| 提交时间：2013/03/25 Mathematical models of structural optimization were established for the cam wave generator then a conceptual model by integrally taking its static and dynamic performance into consideration which satisfied the model acted by four concentrated forces while the dynamic optimum design was carried out. The topology optimization of the cam wave generator was performed based on artificial material density method was obtained. And the size optimization of the cam wave generator was also executed based on the zero-order method in software Ansys after setting up its parameterized model. The optimized results indicate that its final volume declines to 1284.217mm3 from its 1397.830mm3 which reduced by 42.18% than the original volume of cam (2221.224mm3). Simultaneously the static analysis and modal analysis were implemented and the results show that the static and dynamic performance complies with the design requirements proving that the results of dynamic optimum design are reasonable. The optimized results in paper are realizable in engineering. And the study method provides not only a reference to decreasing design mass and lowering inertia of the cam wave generator but also an important basis of lightweight design of harmonic gear drive. 2011 IEEE.
	Application of precision harmonic gear drive in focusing mechanism of space camera (EI CONFERENCE) 会议论文 OAI收割 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Smart Structures and Materials in Manufacturing and Testing, April 26, 2010 - April 29, 2010, Dalian, China 作者: Zhang X.; Zhang X.; Zhang X. 收藏 \| 浏览/下载：26/0 \| 提交时间：2013/03/25 A kind of precision harmonic gear drive in the focusing mechanism of space camera is studied which adopt external meshing complex wave transmission mode. Wave generator is combined with an elliptic cam and a flexible bearing around it. Flexspline is a structure of single wave with the same teeth. The output shaft is supported by a single cross-roller bearing. Ball screws connected the output shaft translate the rotational motion to the linear motion and drive the focusing mirror repeated moving along the linear guide. The output rigid wheel is connected with absolute encoder to detect displacement of focusing movement. It has the characteristics of big transmission ratio high precision compact structure high efficiency and smooth running etc. According to the practical application of this harmonic gear drive in the space camera the location relationship between the displacement of focusing structure and the focal plane movement is derived and the system error is analyzed its accuracy is tested with the open-loop control method. Experimental results show that transmission ratio of the instrument is 1:70 repeated positional accuracy is 2m which meet the requirements for use. 2010 SPIE.