Harmonic Gear Driving Device And The Short Flexspline Study

The thesis is based on the project of "Study on High Parameter Gear Set Applied on Electric (or Hydraulic) Control Actuator and Inertia Guiding Gyro", which is a major military project from Commission of Science Technology and Industry for National Defense. The project have two main contents, including exploring the key technique of high parameter harmonic gear driving device and development of typical prototype. The project be requested to develop a harmonic gear driving device with superminiature volume and high load-carrying capacity. The performance parameters such as reliability, return difference, driving error, volume and quantity etc. all should reach a very high standard.Because of the size in axial direction is big, the domestic harmonic gear driving device with cup-shaped flexspline can't satisfy the demand of assemble space. Also the existed harmonic gear driving device with ring-type flexspline has a short axial direction size, but it have the problems of high starting torque and big return difference. So, the domestic harmonic gear driving device still can't meet all the strict demands of modern military production on the facts of assemble space, quality, return difference etc. at the same time. The harmonic gear driving device with short cup-shaped flexspline can meet all the demands mentioned above at the same time, and only several developed country such as America, Japan and German grasped the design and manufacture technique of this kind of transmission device.