{"id":"https://openalex.org/W4400368061","doi":"https://doi.org/10.1142/s1793962325500072","title":"Harmonic drive friction loss based on an integrated joint for collaborative robots","display_name":"Harmonic drive friction loss based on an integrated joint for collaborative robots","publication_year":2024,"publication_date":"2024-07-05","ids":{"openalex":"https://openalex.org/W4400368061","doi":"https://doi.org/10.1142/s1793962325500072"},"language":"en","primary_location":{"id":"doi:10.1142/s1793962325500072","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s1793962325500072","pdf_url":null,"source":{"id":"https://openalex.org/S107361000","display_name":"Advances in Complex Systems","issn_l":"0219-5259","issn":["0219-5259","1793-6802","1793-9615","1793-9623"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Modeling, Simulation, and Scientific Computing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100762735","display_name":"Ya Chen","orcid":"https://orcid.org/0000-0001-7447-9307"},"institutions":[{"id":"https://openalex.org/I130541836","display_name":"Beijing Institute of Petrochemical Technology","ror":"https://ror.org/025s55q11","country_code":"CN","type":"education","lineage":["https://openalex.org/I130541836"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ya Chen","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Petrochemical Technology, No. 19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, P. R. China"],"raw_orcid":"https://orcid.org/0000-0001-7447-9307","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Petrochemical Technology, No. 19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, P. R. China","institution_ids":["https://openalex.org/I130541836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108952423","display_name":"Rongqing Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I130541836","display_name":"Beijing Institute of Petrochemical Technology","ror":"https://ror.org/025s55q11","country_code":"CN","type":"education","lineage":["https://openalex.org/I130541836"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongqing Wu","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Petrochemical Technology, No. 19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, P. R. China"],"raw_orcid":"https://orcid.org/0009-0007-1086-1524","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Petrochemical Technology, No. 19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, P. R. China","institution_ids":["https://openalex.org/I130541836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100395999","display_name":"Peng Wang","orcid":"https://orcid.org/0000-0002-2522-9333"},"institutions":[{"id":"https://openalex.org/I130541836","display_name":"Beijing Institute of Petrochemical Technology","ror":"https://ror.org/025s55q11","country_code":"CN","type":"education","lineage":["https://openalex.org/I130541836"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Wang","raw_affiliation_strings":["School of Information Engineering, Beijing Institute of Petrochemical Technology, No. 19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-2522-9333","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Beijing Institute of Petrochemical Technology, No. 19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, P. R. China","institution_ids":["https://openalex.org/I130541836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072932649","display_name":"Dianjun Wang","orcid":"https://orcid.org/0000-0002-5620-3320"},"institutions":[{"id":"https://openalex.org/I130541836","display_name":"Beijing Institute of Petrochemical Technology","ror":"https://ror.org/025s55q11","country_code":"CN","type":"education","lineage":["https://openalex.org/I130541836"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dianjun Wang","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Petrochemical Technology, No. 19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-5620-3320","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Petrochemical Technology, No. 19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, P. R. China","institution_ids":["https://openalex.org/I130541836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059309588","display_name":"Linlin Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Linlin Gao","raw_affiliation_strings":["Aubo (Beijing) Robotics Technology Co., Ltd., Block A, Haiqing Building, No. 6 West Road, Agricultural Science Academy, Haidian District, Beijing 100080, P. R. China"],"raw_orcid":"https://orcid.org/0009-0001-6435-1294","affiliations":[{"raw_affiliation_string":"Aubo (Beijing) Robotics Technology Co., Ltd., Block A, Haiqing Building, No. 6 West Road, Agricultural Science Academy, Haidian District, Beijing 100080, P. R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shujing Liu","orcid":"https://orcid.org/0009-0006-8158-1805"},"institutions":[{"id":"https://openalex.org/I130541836","display_name":"Beijing Institute of Petrochemical Technology","ror":"https://ror.org/025s55q11","country_code":"CN","type":"education","lineage":["https://openalex.org/I130541836"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shujing Liu","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Petrochemical Technology, No. 19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, P. R. China"],"raw_orcid":"https://orcid.org/0009-0006-8158-1805","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Petrochemical Technology, No. 19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, P. R. China","institution_ids":["https://openalex.org/I130541836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019509678","display_name":"Zhongkang Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhongkang Song","raw_affiliation_strings":["Aubo (Beijing) Robotics Technology Co., Ltd., Block A, Haiqing Building, No. 6 West Road, Agricultural Science Academy, Haidian District, Beijing 100080, P. R. China"],"raw_orcid":"https://orcid.org/0009-0008-9680-8579","affiliations":[{"raw_affiliation_string":"Aubo (Beijing) Robotics Technology Co., Ltd., Block A, Haiqing Building, No. 6 West Road, Agricultural Science Academy, Haidian District, Beijing 100080, P. R. China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7458,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.65795706,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"15","issue":"06","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11062","display_name":"Gear and Bearing Dynamics Analysis","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11062","display_name":"Gear and Bearing Dynamics Analysis","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14474","display_name":"Industrial Technology and Control Systems","score":0.9901999831199646,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.983299970626831,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7536612749099731},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.7214376330375671},{"id":"https://openalex.org/keywords/harmonic","display_name":"Harmonic","score":0.49895358085632324},{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"Harmonic drive","score":0.4798283576965332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4099488854408264},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.31929340958595276},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30406713485717773},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.2987154722213745},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23380017280578613},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2035348117351532},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19767004251480103}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7536612749099731},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7214376330375671},{"id":"https://openalex.org/C127934551","wikidata":"https://www.wikidata.org/wiki/Q1148098","display_name":"Harmonic","level":2,"score":0.49895358085632324},{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.4798283576965332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4099488854408264},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.31929340958595276},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30406713485717773},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2987154722213745},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23380017280578613},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2035348117351532},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19767004251480103}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s1793962325500072","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s1793962325500072","pdf_url":null,"source":{"id":"https://openalex.org/S107361000","display_name":"Advances in Complex Systems","issn_l":"0219-5259","issn":["0219-5259","1793-6802","1793-9615","1793-9623"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Modeling, Simulation, and Scientific Computing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W231933190","https://openalex.org/W2000486409","https://openalex.org/W2606241317","https://openalex.org/W2753943679","https://openalex.org/W2772392332","https://openalex.org/W2795056878","https://openalex.org/W2898070083","https://openalex.org/W2962909267","https://openalex.org/W2996347493","https://openalex.org/W3118325960","https://openalex.org/W3119553106","https://openalex.org/W4281647027","https://openalex.org/W4376867639","https://openalex.org/W4379877227"],"related_works":["https://openalex.org/W2990847036","https://openalex.org/W1618129736","https://openalex.org/W4230917607","https://openalex.org/W2336871194","https://openalex.org/W1891749105","https://openalex.org/W2370709503","https://openalex.org/W2385917479","https://openalex.org/W2167713062","https://openalex.org/W2742862823","https://openalex.org/W2354152341"],"abstract_inverted_index":{"To":[0],"investigate":[1],"the":[2,5,10,14,21,28,33,49,54,57,69,73,92,99,105,110,126,143,147,160,165,168,177,183,196,205,209],"influence":[3],"of":[4,32,53,59,72,83,95,121,133,167,199,212],"friction":[6,30,70,96,118,130,178,197],"loss":[7,31,71,97,119,131,179,198],"generated":[8,181],"by":[9,36,163],"harmonic":[11,34,55,74,100],"drive":[12,35,75,101],"in":[13,190],"integrated":[15,39,149,200],"robot":[16,213],"joint":[17,40,150,161],"transmission":[18,51,64,184],"process":[19,185],"on":[20,44,68,104],"torque":[22,162,210],"control":[23,211],"accuracy,":[24],"this":[25,202],"study":[26,203],"analyzed":[27],"internal":[29],"establishing":[37],"an":[38],"dynamics":[41,151],"model":[42,152],"based":[43],"multi-factor":[45],"coupling.":[46],"According":[47],"to":[48,108,158,173,187],"nonlinear":[50,62],"characteristics":[52],"drive,":[56],"effects":[58],"hysteresis":[60],"characteristics,":[61],"friction,":[63],"error,":[65],"and":[66,80,87,102,123,125,135,146],"temperature":[67],"were":[76,112],"analyzed.":[77],"With":[78],"rated":[79],"peak":[81],"torques":[82],"0.4[Formula:":[84],"see":[85,89],"text]Nm":[86],"1.44[Formula:":[88],"text]Nm,":[90],"respectively,":[91],"theoretical":[93,115,144,206],"calculations":[94],"inside":[98],"simulations":[103],"co-simulation":[106,127],"platform":[107,128],"verify":[109],"results":[111,139],"performed.":[113],"The":[114,137,155],"analysis":[116],"yielded":[117,129],"rates":[120,132],"8.54%":[122],"10.41%,":[124],"9.64%":[134],"12.08%.":[136],"simulation":[138],"are":[140],"consistent":[141],"with":[142],"analysis,":[145],"constructed":[148],"is":[153],"accurate.":[154],"scheme":[156],"used":[157],"obtain":[159],"measuring":[164],"deformation":[166],"flexure":[169],"wheel":[170],"was":[171],"found":[172],"be":[174,188],"feasible;":[175],"however,":[176],"compensation":[180],"during":[182],"needs":[186],"considered":[189],"practical":[191],"working":[192],"conditions.":[193],"By":[194],"analyzing":[195],"joints,":[201],"provides":[204],"basis":[207],"for":[208],"joints.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}