Research On Deformation Of Flexspline And Space Meshing Tooth Profile Of Giant Magnetostrictive Harmonic Motor

With the rapid development of the science technology in recent years, the increasing demands of harmonic drive device were put forward especially in the fields of aerospace and mechatronics. At present, the common mode of motion transmission for the ordinary harmonic drive were motorâ†'reducerâ†'implementing device. The requirement of the installation space couldn’t be satisfied for the independence of each component and the larger dimension of axial. So the unit of power which combines the drivers and harmonic drive need be researched, and it was of great significance for the microminiaturization of the transmission system. The key was how to choose suitable coupling medium of electromechanical energy conversion. In recent years, the research results and engineering practice of tombarthite giant magnetostrictive material(GMM) which is studied by the researchers at home and abroad provided reference to this paper. A solution of giant magnetostrictive harmonic motor was proposed based on the principle of harmonic gear drive and magnetostrictive properties of giant magnetostrictive material. The force and moment were output in the format of harmonic gear drive, the characteristics of the harmonic drive were changed greatly, and the new unit of power with compact structure, low inertia, fast response and high resolution was formed.In order to fundamentally realize the function of transmitting force and moment of the giant magnetostrictive harmonic motor, the flexspline and its space tooth profile of the gearing were researched in this paper. The specific contents were as follows:(1) Research on meshing principle of giant magnetostrictive harmonic motor device Kinematic model of the harmonic drive was built based on the traditional kinematic model in connection with the particularity of the gear mesh on giant magnetostrictive harmonic motor. The involute profile was selected as flexspline tooth shape. And the principle of gear meshing was studied by the method of envelope. The solving process of conjugate rigid gear tooth profile was also studied.(2) Research on deformation regularity of flexible of the giant magnetostrictive harmonic motor. In order to realize the analysis of simulation, the contact model of finite element was developed using ANSYS to build related program. The nodal displacement of the inner wall of the flexible wheel was extracted, and the deformation curve of the flexible wheel in condition of no-load was fitted using numerical method of Fourier function. At the same time, the load deformation curve of the outer wall of the flexible wheel was analyzed by load simulation.(3) Structural design and solid modeling of each major component of the giant magnetostrictive harmonic motor. Firstly, structure of the main component of harmonic device was designed by using3D design software. Then the solid models of the components were constructed through the method of parametric modeling of the software. At the same time, the small integration of harmonic device was realized by means of virtual assembly. And its assembly was also simplified.(4) Research on meshing simulation and the cone angle of engagement for the flexspline space deformation was investigated. The conjugate rigid spline tooth profile was obtained according to the fitted characteristic curve of the flexspline. And the meshing simulation of harmonic drive was established, it included kinematics simulation, the trajectory of the rigid spline teeth relative to the flexspline was gotten. The cone angle of engagement for the flexspline space deformation was investigated and proposed a method of aequilate shrinkage of rigid gear based on the contract angle.Through the above research, giant magnetostrictive harmonic motor designed in this paper not only realized the function of outputting force and moment, but also got the aequilate shrinkage of rigid gear. With this angle, teeth meshing process interference was eliminated and the disengagement of short axis was solved. The result show that giant magnetostrictive harmonic motor could satisfy the expected design requirements.