| In this thesis, according to the engagement theory of harmonic drive, model61of biarc tooth profile of harmonic gear drive with0.5modulus and transmission ratio50was designed. Some main works finished in the thesis are briefly described as follows:(1) On the basis of research on engagement principle of harmonic drive with circular-arc tooth profile, one design method was achieved for biarc tooth profile of rack for flexspline of harmonic drive. The coordinate system of flexspline was established by convex tooth and concave tooth; the coordinate system of circular spline was obtained by0.43wave height and the method of H matrix.(2) Harmonic gear reducer which included2D design of tooth profile of flexspline was designed by CAXA software, the rack of circular spline was also designed by using related H matrix method, the two-dimensional flexspline and circular spline was imported into UG, and then3D model was obtained according to the relationship of the position between each harmonic reducer.(3) Assembled model of this harmonic drive reducer was established by means of UG and ADAMS software and then it was imported into ADAMS to simulate the engagement characteristics after some constraints which were added according to their actual movements of flexspline, circular spline and wave generator. Simulation showed that the results were consistent with the geometric model by analyzing the engagement characteristics of flexspline and circular spline.(4) Finite element software NX/nastran was used to analyze the modal of flexspline, and the vibration response was studied under various types of vibration source. The modal of flexspline was optimized by the method of multi-objective optimization. The result showed that the influence of the section size on the flexspline was so large that it should be accounted when the tooth was designed, especially for the harmonic drive of micron gear.(5) Flexspline deformation was analyzed under no-load stress and load stress. Engagement force distribution function was determined by the load stress while the displacement was analyzed in the finite element software. The simulation results show that the flexspline radial displacement under load was consistent with0.43wave height which designed by the theory, so the design of the tooth harmonic reducer was reasonable. (6) For the biarc harmonic reducer involved above, design of biarc tooth profiles was completed, and the performance was tested. Test results showed that the transmission characteristics of biarc circular harmonic gear was consistent with the results of simulation in ADAMS and no interference occurred under no-load.By means of virtual prototyping technology, a harmonic reducer system was designed completely and the performance was analyzed and finally the desired target was achieved by all works done in theory and practice during this period. |
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