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gudanyuzhou木虫 (正式写手)
小甜甜
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[求助]
帮忙翻译下这两段英文文献成中文，谢谢
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The accurate modeling of a complete harmonic drive system(including the actuator, harmonic drive, sensors, and load)presents a difficult problem. In most of the literature, the actuators providing the drive torques are modeled as pure torque sources, or as first-order lags. Numerous models have been proposed also to represent either the general system dynamics or some aspects of nonlinear friction and compliance effects. The majority of these models have been either too complicated, with parameters that are difficult to determine, or too simple, assuming a linearized model and neglecting the nonlinear effects. The physical realities of the system have therefore limited the acceptance of these models. There is therefore a need to better understand the kinematic, dynamic, and transmission properties of harmonic drive gears, and their interaction with actuators and external loads. The three main nonlinear transmission attributes in harmonic drives responsible for motion transmission performance degradation include nonlinear stiffness, friction, and kinematic error.The transmission compliance and the internal dynamic friction mechanisms, resulting in hysteresis curves when torque is plotted against angular displacements, are controversial issues regarding the primary source of energy storage and dissipation in harmonic drives. |
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