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Identifying Stiffness, Friction, and Kinematic Error Signature in Gear Bearing Drive Transmissions

The Gear Bearing Drive (GBD) is a recently developed high gear-ratio transmission concept based on NASA’s high-reduc-tion gear bearing technology and brushless outrunner motor technology. In this paper, we describe the experimental setup and characterization of the GBD transmission’s stiffness, friction, backlash, hysteresis as well as its kinematic error. Compared to conventional precision drive systems such as harmonic drives, the GBD can offer similar advantages such as high gear-ratio in a compact assembly but with the potential of better stiffness characteristics and a more predictable output speed response. The models derived in this paper were then fed into a dynamic model that can accurately simulate the velocity open-loop re-sponse of the transmission under various input current functions. Manuscript in pdf

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