[6] Krasheninnikov V.I. Dvukhvolnovye zubchatye peredachi s diskovymi
volnoobrazovatelyami dlya sistem avtomaticheskogo upravleniya. Diss. kand.
tekhn. nauk [Two-Wave Harmonic Drives with Disk’s Wave-Generations for
Automatic Control Systems. Cand. tech. sci. diss.]. Zhukovsky, Moscow Region,
1990, 191 p.
[7] Tarabarin V.B, Artamonov P.I, Lyulyaev V.M. Experimental Research of the Drive
with a Harmonic Drive.
Proc. of Bauman MHTS
no. 227 Theory of Mechanisms,
iss. 7, Moscow, 1976 (in Russ.).
[8] Istomin S.N., Shuvalov S.A., Popov P.K. Kinematicheskaya tochnost’ pribornykh
volnovykh peredach [The Kinematic Accuracy of an Instrumental Harmonic Drives].
Moscow, Mashinostroenie Publ., 1987, 159 p.
[9] Hidaka Teruaki, Sasahara Masakatsu, Tanioka Yoshihiro, Okada Kouji. Torsional
Vibration in the Robot Due to Wave Gears.
Transactions of the Japan Society of
Mechanical Engineers Series C
, 1986, vol. 52, no. 480, pp. 2207–2212. ISSN:0387-
5024
[10] Lyuminarskiy I.E. Own Kinematic Error of a Harmonic Drive.
Mashinostroenie i
inzhenernoe obrazovanie
[Mechanical Engineering and an Engineering Education],
2008, iss. 2, pp. 53–56 (in Russ.).
[11] Kenno Т, Nagemori S. Permanent-Magnet and Brushless DC Motors. Oxford,
Clarendon Press, 1985.
[12] Biderman V. L. Prikladnaya teoriya mekhanicheskikh kolebaniy [The Applied Theory
of Mechanical Fluctuations]. Moscow, Vyssh. shk. Publ., 1972. 416 p.
[13] Diaconov V.P. Spravochnik po algoritmam i programmam na yazyke Beysik dlya
personal’nykh EVM [Handbook on Algorithms and Programs in Language the
BASIC for Personal Computers]. Moscow, Nauka Publ., 1987. 240 p.
Статья поступила в редакцию 19.03.2015
Тарабарин Валентин Борисович — канд. техн. наук, доцент кафедры “Теория меха-
низмов и машин” МГТУ им. Н.Э. Баумана.
МГТУ им. Н.Э. Баумана, Российская Федерация, 105005, Москва, 2-я Бауманская ул.,
д. 5.
Tarabarin V.B. — Ph.D. (Eng.), Associate Professor, Department of Theory of Mechanisms
and Machines, Bauman Moscow State Technical University.
Bauman Moscow State Technical University, 2-ya Baumanskaya ul. 5, Moscow, 105005
Russian Federation.
Тарабарина Зинаида Ивановна — старший преподаватель кафедры “Теория механиз-
мов и машин” МГТУ им. Н.Э. Баумана.
МГТУ им. Н.Э. Баумана, Российская Федерация, 105005, Москва, 2-я Бауманская ул.,
д. 5.
Tarabarina Z.I. — Senior Lecturer, Department of Theory of Mechanisms and Machines,
Bauman Moscow State Technical University.
Bauman Moscow State Technical University, 2-ya Baumanskaya ul. 5, Moscow, 105005
Russian Federation.
Просьба ссылаться на эту статью следующим образом:
Тарабарин В.Б., Тарабарина З.И. Моделирование динамики электромеханической
части привода системы управления с волновым зубчатым редуктором // Вестник
МГТУ им. Н.Э. Баумана. Сер. Машиностроение. 2015. № 5. C. 117–127.
Please cite this article in English as:
Tarabarin V.B., Tarabarina Z.I. Simulating dynamics of electromechanical drive unit of
control system with harmonic reducer.
Vestn. Mosk. Gos. Tekh. Univ. im. N.E. Baumana
[Herald of the Bauman Moscow State Tech. Univ., Mech. Eng.], 2015, no. 5, pp. 117–127.
ISSN 0236-3941. Вестник МГТУ им. Н.Э. Баумана. Сер. “Машиностроение” 2015. № 5 127