New control concept improves actuator performance
A
Heason Technology product story
Edited by the Engineeringtalk editorial team
Jul 29, 2002
The FHA-C series from Harmonic Drive features significantly increased torque capacity and increased torsional stiffness within an axial length reduced by 30% compared with the previous FHA-B series.
The latest FHA-C series from Harmonic Drive represents the third generation of hollow-shaft actuator and features significantly increased torque capacity (20%) and increased torsional stiffness (100%) within an axial length reduced by 30% compared with the previous FHA-B series.
Now, as part of a continuous development programme, the FHA-C series has been provided with an integrated output-side Ferraris acceleration sensor.
This allows the actuator to be used in combination with advanced control techniques that can satisfy extreme requirements with respect to transmission accuracy, making the actuator ideally suited to highly dynamic and precise positioning applications, particularly where the drive is part of the moving structure.
The inclusion of Ferraris sensor to provide acceleration feedback reduces the transmission error over a wide speed range by a factor of two to three to a value less than 15arc-s.
This can reduce the transmission error to a value less than 20arc-s, even in the event of gear resonance, which corresponds to a reduction in the dynamic transmission error by a factor of four to five.
The direct feedback of acceleration at the actuator output also provides much improved stiffness with respect to external disturbances and also improved damping without any loss in dynamic performance.
The smoothness of the actuator is altogether improved even if there is external excitation of the gear resonance frequency.
The basis for the development of the new FHA-C series is the latest CSD "super-flat" component set, which features a significantly reduced axial length compared to previous series.
In addition to a 30% reduction in length of the flexspline, the new component set series offers the well-known advantages of all Harmonic Drive gears: high torque capacity, absolute positioning accuracy better than 1arc-min and the repeatability is in the range of just a few arc seconds, operating efficiencies in excess of 90% and negligible wear during working life so efficiencies are constantly maintained.
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