Development Of An Equipment For Aeronautical Harmonic Reducer Performance

The application of aeronautical harmonic reducer is becoming more andmore mature.The application fields has became more and more various,whichdirectly contributes to the harmonic reducer production.In the production, thedetection of the harmonic reducer’s accuracy is necessary.Currently,the maindetection methods are manual.Besides, people also use some precision measuringinstruments to test one precision indicator.In a word,there has not been anautomatic integrated presion detection equipment in the moment.This thesis aims to study an equipment which can complete the harmonicreducer’s precisions and rigidity.The equipment’s host is PC104,which completethe data acquisiton and motion control.The equipment can complete the precisionand rigidity testing at the same time by using some peripheral devices.In this thesis,the overall design of the equipment has been completed.According to the analysis of testing requirements,the hardware and software ofthe equipment have been designed.The equipment used PC104as the softwareand hardware platform,used high-precision Keyence sensor to measure thedisplacement,used a pull-press sensor and digital transmitter to acquire theloading force.In order to control the system motion,installed two displacementsensors to the Zhuoli KSA stage,and used MC600controller to complete the stagemotion,used Lemire stepper motor to control the reducer’s output shaft rotation.All the devices contributed to complete the precison automatic testing.The LabVIEW is used to complete the software programming.According tothe structured programing ideas,analysis the software struture with HIPOdiagrams.Then completed the main program design with the state machineprogramming ideas.When testing the radial accuracy specifications,used areturn-after-passed the highest point algorithm to find the radial highestpoint.This method can reduce the radial displacement measurement error s.After completing the design,test the equipment’s performance.When thestiffness is detected,the least aquares method is used to get the linear regressionparameters,which are also the stiffness values.When the displacement and stiffness are detected,a harmonic reducer will be tested many times in order tocalculate the uncertainty of the results.At last,the results can be used to optimizethe algorithms and improve the accuracy of the equipment.