Study on the Loading‐Rate Dependence of Hysteresis in Robot Reducers

This paper investigates the loading‐rate dependence of hysteresis in miniature reducers. A hysteresis model considering loading‐rate dependence is established and validated. By decomposing hysteresis curves, the influence of loading‐rate dependence on hysteretic behavior is quantified. The dynamic nature of lost motion is re‐examined, and loading‐rate dependence is identified as a key dynamic characteristic that biases hysteresis tests. Two novel testing strategies—equal‐position gradient loading and constant‐speed loading—are proposed to mitigate rate effects while meeting the constraints of miniature reducers. These methods improve measurement accuracy and repeatability. Finally, the practical application of rate dependence in optimizing reducer design, testing, and evaluation is discussed.