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Harmonic drives have been of significant importance in many industrial and high-end applications including robotics, aerospace and manufacturing. Their unique characteristics combine high torque capabilities, high to ultra-high transmission per stage and low backlash performance in compact designs, suited for limited space applications. However, apart from the eminent merits of the technology, this type of gearboxes is associated with complex dynamic performance. Since their operations is associated with high compliance and friction a non – linear behavior is imposed to the system. This is also intensified due to torque ripples which in many cases apart from adding up to the overall complexity of the system, can also interfere with components of similar resonance frequency. In the frame of this paper a novel concept for a low-cost lightweight plastic harmonic drive used in positioning of telecommunication antennas is presented. Due to the tight dynamic specifications of the application (settling time, positioning error etc.) the torque ripple of the transmission was modelled and minimized. Design changes were also incorporated in various features in order to improve the overall dynamic performance.

Presented work aims to minimize the delivery fluctuation of a gear pump through geometrical optimisation of the tooth flank. Therefore, instead of examining various configurations, which would reduce the flow ripple ad hoc, the current study suggests the dependence the delivery fluctuation to the tooth flank profile. Taking into account the secondary derivative of the tooth profile, the optimisation process is able to also affect the secondary delivery fluctuation, which is connected to the compression of the fluid over the meshing cycle. Bezier-Bernstein polynomial curves were used to model the tooth flank in order to satisfy the objective function. A dependency between the total length of the path of contact curve and the flow ripple was found. It is stated in this work that for every design point on a closed path of gear set, there is a threshold on the contact length, over which the resulted flow ripple starts to deviate from the optimum value. That conclusion was used to further enhance the optimisation algorithm. The presented optimum gear profile design was evaluated through a comparative study between every design point and the corresponding solution of the existing state of the art in terms of delivery fluctuation.