Friction-Identification of Harmonic Drive Joints Based on the MCMC Method
Although harmonic drives have been adopted by all sorts of industrial environments, the mathematical expression of its dynamics has not yet been fully solved. An intelligent algorithm based on data acquisition is used to analyze the kinematic parameter of the flexible manipulator offline to improve...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9968008/ |
| _version_ | 1811178499290955776 |
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| author | Qi Wang Huapeng Wu Yong Cheng Hongtao Pan Yang Yang Guodong Qin |
| author_facet | Qi Wang Huapeng Wu Yong Cheng Hongtao Pan Yang Yang Guodong Qin |
| author_sort | Qi Wang |
| collection | DOAJ |
| description | Although harmonic drives have been adopted by all sorts of industrial environments, the mathematical expression of its dynamics has not yet been fully solved. An intelligent algorithm based on data acquisition is used to analyze the kinematic parameter of the flexible manipulator offline to improve the accuracy of predicting output torque. In this study, a method is proposed to capture the dynamics of harmonic drive systems, such as temperature, speed, and load. A friction model is proposed, and the model parameters are estimated by MCMC (Markov chain Monte Carlo) approximation. The accuracy of the estimated parameters in different conditions is calculated, and the sensitivity to parameter uncertainty of the proposed model is considered. |
| first_indexed | 2024-04-11T06:19:27Z |
| format | Article |
| id | doaj.art-45a554cd577f4ce490dce8623d348b93 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-11T06:19:27Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-45a554cd577f4ce490dce8623d348b932022-12-22T04:40:51ZengIEEEIEEE Access2169-35362022-01-011012589312590710.1109/ACCESS.2022.32260369968008Friction-Identification of Harmonic Drive Joints Based on the MCMC MethodQi Wang0https://orcid.org/0000-0002-6242-7451Huapeng Wu1https://orcid.org/0000-0001-6759-6038Yong Cheng2Hongtao Pan3https://orcid.org/0000-0002-2380-8382Yang Yang4https://orcid.org/0000-0002-3510-6943Guodong Qin5https://orcid.org/0000-0001-5497-3623Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, ChinaSchool of Energy Systems, Lappeenranta University of Technology, Lappeenranta, FinlandInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, ChinaSchool of Energy Systems, Lappeenranta University of Technology, Lappeenranta, FinlandAlthough harmonic drives have been adopted by all sorts of industrial environments, the mathematical expression of its dynamics has not yet been fully solved. An intelligent algorithm based on data acquisition is used to analyze the kinematic parameter of the flexible manipulator offline to improve the accuracy of predicting output torque. In this study, a method is proposed to capture the dynamics of harmonic drive systems, such as temperature, speed, and load. A friction model is proposed, and the model parameters are estimated by MCMC (Markov chain Monte Carlo) approximation. The accuracy of the estimated parameters in different conditions is calculated, and the sensitivity to parameter uncertainty of the proposed model is considered.https://ieeexplore.ieee.org/document/9968008/Harmonic drivesfrictionMCMC methodparameter estimation |
| spellingShingle | Qi Wang Huapeng Wu Yong Cheng Hongtao Pan Yang Yang Guodong Qin Friction-Identification of Harmonic Drive Joints Based on the MCMC Method IEEE Access Harmonic drives friction MCMC method parameter estimation |
| title | Friction-Identification of Harmonic Drive Joints Based on the MCMC Method |
| title_full | Friction-Identification of Harmonic Drive Joints Based on the MCMC Method |
| title_fullStr | Friction-Identification of Harmonic Drive Joints Based on the MCMC Method |
| title_full_unstemmed | Friction-Identification of Harmonic Drive Joints Based on the MCMC Method |
| title_short | Friction-Identification of Harmonic Drive Joints Based on the MCMC Method |
| title_sort | friction identification of harmonic drive joints based on the mcmc method |
| topic | Harmonic drives friction MCMC method parameter estimation |
| url | https://ieeexplore.ieee.org/document/9968008/ |
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