The purpose of this paper is to realize an electromechanical integrated and piezoelectric harmonic drive system in order to push forward the technological development in the field. Here discusses the working principle of such harmonic drive system based on which to make analysis on the simulation with the PI modulation. The results reveal that the system output can well trace its input. As a summary, the tracking performance of electromechanical integrated and piezoelectric harmonic drive system comes to light with the Simulink simulation module, what impact the PI modulator plays on the system precision is also open wide.
