How to connect Harmonic Drive in Simscape?

Hi. I am trying to follow joint space trajectory using UR5 robot manipulator. As a controller I have utilized PID+gravity compensation. Now, I want to implement Harmonic Drive provided by MATLAB in Simscape. But, while I have tried many times, I couldn't figure out how to connect it and how to use it. And I coulnd't find any source about it. I will attach my robot's model. Please, can you help me on how to connect Harmonic Drive in Simscape? Simple connection diagram of it would be very good. Thank you for your effort beforehand.

[alberto di stefano]

Hi, I'm facing the same issue. were you able to solve it?

[BUVANESH PANDIAN]

Hi, I am also facing the same issue on figuring out how to connect the harmonic drive in simulink. Could you please help me out here?

[Steve Miller]

Can you attach your model, please?

--Steve

Answer 1

[Nathan Hardenberg]

I made an example on how the harmonic drive could be used. Hope this can help someone.

Notes:

• The "Harmonic Drive" is connected to the "Torque Source" with a very stiff spring. This can be removed, but while testing it helped in some configurations to simulate faster!
• To tune the PIDs I used the Tuner inside of the PID-Block
• The "Simulink-PS Converter" needs the options "Filter input, derivatives calculated" and "Second-order filtering". That's what the small black dots in the diagram mean
• Please be sure to know what the Goto- and From-Block does