Identify the source of cycloidal-drive-stage harmonic frequencies

Determine whether the six selected harmonic frequencies associated with the cycloidal-drive stage arise from manufacturing tolerances of the 46 pins or from assembly tolerances between the cycloidal disc and the pins.

Background

The paper relates dominant transmission-error harmonics to mechanical components of the investigated Nabtesco RH380-N cycloidal drive. For the six frequencies associated with the cycloidal-drive stage, the measurements establish a relationship with that stage but do not resolve which physical imperfection is responsible. Distinguishing manufacturing tolerances of the pins from assembly tolerances between the cycloidal disc and pins would clarify the mechanical origin of these error components and could support more physically grounded modeling and compensation.

References

For these six harmonic frequencies of the CD stage, it is not possible to distinguish whether they are related to manufacturing tolerances of the z_4=46 pins or assembly tolerances between the cycloidal disc and the pins.

— Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series  (2609.29112 - Bauer et al., 24 Sep 2026) in Section 4, subsection “Transmission Errors”