The Automatic Measurement System for Harmonic-drive Devices

Harmonic-drive transmission finds many applications in industry, especially in manufacturing of industrial robots. As the key devices of an industrial robot, the harmonic drive reducers determine the robot's performance, which includes the positioning accuracy, loading capacity, life time, etc. To satisfy the need of manufacturing high performance harmonic drive devices, development of competent measurement system is of great importance. An automatic measurement system with high-precision and multifunction is under development. The system consists of the power module, loading module, torque and rotation measuring module. The measurement and operation principle were explained. The factors affecting the accuracy of the measurement system were analysed. The control system was designed to realize the automatic loading and acquisition of torque and rotation data. The principle and measurement software of the control system were also introduced. Finally, a harmonic reducer with the gear ratio 120 was measured to verify the feasibility of the measurement system. (paper)