The Harmonic Reducer Simulation Analysis And Structure Optimization

Harmonic reducer is widely used in the field of robot because of large carrying capacity, high transmission precision, big reduction ratio and stable transmission. As the main components of harmonic reducer, flexible gear dynamic characteristics impact on the working status of the harmonic reducer. Take the flexible gear as the object of research, study on it by finite element analysis method, the dynamic simulation method and parameter optimization design method, and change the structure of flexible gear in order to improve harmonic reducer work performance.According to the principle of harmonic gear meshing, setting up the mathematical model of just round fixed, wave generator as the active input and flexible gear as a passive output. Establishing the transformation matrix of wave generator and flexible gear, obtain the relative motion equations. All these provide theoretical basis for further analyzing flexible gear.The structure of the elliptical CAM wave generator make the flexible gear produce stress deformation, affect the harmonic drive performance and service life directly. Build a three-dimensional flexible gear that according to the manufacturer provide parameters, getting stress, strain and deformation distribution of the overall by Ansysworkbench, obtaining the static deformation and the first eight order modal shape natural frequency of flexible gear. The result show that in the long axis of wave generator is the most position that stress maximum, and decreases along the axial direction, the natural frequency provide a theoretical basis for reducing the vibration of flexible gear.Based on the status of force that single chain of parallel robot, determine the harmonic reducer maximum engagement force state. Study on the changes of engaging force in the master arm swing process by ADAMS software, and observation flexible gear deformation under the engaging force. And study the cylinder length, gear ring width and the cylinder wall thickness influence on the deformation of flexible gear. The result show that flexible gear has a greater degree of deformation under the force.Optimize the design of flexible gear based on the analysis result and actual working condition of four degrees of freedom parallel robot. In the process, get the minimum clearance, maximum carrying capacity and minimum volume as the objective. Get the optimal value of design variables by Matlab software. After the optimizing design, the flexible gear has a better performance, structure size more reasonable, less overall deformation under the same reaction, increase natural frequency and better satisfies the need of parallel robot.