Research On Tooth Profile Of Harmonic Driver Based On The Kinematic Geometry

On the basis of finite element analysis on the displacement of the flexspline in the dissertation , the geometry kinematics relation and how to design the tooth profile is studied.Firstly, the motion transmission model loaded is set up. The motion transmission relations of flexspline's tooth, tooth of circular spline and the wave generator are derived. Meanwhile, two instantaneous transmission ratios under load conditions which are transmission ratio of output angular velocity relative to input angular velocity and transmission ratio of flexspline's tooth angular velocity relative to tooth of circular spline are derived.And then, on the foundation of on the experiential formula and experimental result, the initial displacement and the load of flexspline are educed. Then a shell element model of flexspline is set up and an analysis on the displacement of the flexspline is done. Meanwhile, on the basis of the motion transmission model , the single tooth meshing is studied. If the shape of the distorted flexspline and the relation of flexspline's tooth angular velocity and output angular velocity is given, the movement rule of the single tooth meshing between flexspline and circular spline can be readily derived. Finally, the tooth profile of circular spline is designed by means of the S tooth profile theory. And then the conjugate tooth profile of flexspline is studied by means of digital simulation. The software is programmed on Visual C++ platform, which can imitate the meshing of a pair of teeth.