Dynamic Angular Transmission Error Compensation for Strain Wave Gearing

This paper proposes a dynamic angular transmission error (ATE) compensation method in strain wave gearing, aiming to suppress vibrations by a feedforward control approach. In mechanisms incorporating strain wave gearing, significant issues arise when the frequency of the ATE coincides with the resonant frequency of the mechanical system. The proposed method enables the design of a dynamic ATE compensator based on the system's frequency response, using control system structure, control parameters, and ATE characteristics as design inputs. Notice here that it does not require prior knowledge of load inertia or the stiffness of the reduction mechanism, and it is applicable regardless of the control system configuration. The compensator is implemented as a linear interpolation lookup table that adjusts the compensation according to motor velocity. The effectiveness of the proposed method is validated through both numerical simulations and experimental evaluations using a prototype positioning device equipped with strain wave gearing.