Testing of harmonic drive degrading under radiation environment

Humanoid robot has great potential in rescue task in extreme environments. However, robot may lose functionality under radiation environments because of the radiation induced damage and degrading of robot components, particularly the potential damage on harmonic drives is not yet well studied. We started by modelling the transmission and nonlinear features of harmonic drive dynamically, made analysis and assumptions on how the harmonic drive could probably degrade in the assumed radiation environments, and used a new 'elastic-slide-free-motion' testing method on the harmonic drive gearhead by characterising its elastic-slide behaviour before and after X-ray irradiation experiment. The testing results indicated that harmonic drives are resistant to environment irradiation in short-period operations.