Study On The Harmonic Gear Drive Model With Nonlinear Factors

In order to improve the transmission precision of the harmonic gear,the factors affecting the transmission precision of the harmonic gear are analyzed and the synthesis model of harmonic gear transmission is established.This article first embarks from the understanding of the structure and working principle of harmonic gear,then analyzes the influential elements of the transmission accuracy of the harmonic gear,and the influence factors are divided into linear and nonlinear factors-rigidity characteristics,motion error,backlash and meshing friction.To study the influence of nonlinear factors characteristics and to establish the mathematical model of nonlinear factors based on the harmonic reducer XB1-50-100 as experimental object,the harmonic gear static and dynamic experiments are respectively and friction torque experiment.The static experiment is a method to measure the reverse angle of the input side of harmonic reducer and analyze the data.The results show that the torque stiffness of the harmonic gear has obvious hysteresis.Dynamic experiment is to pass the angular displacement sensor on the input and output devices of harmonic gear reducer and rotational speed and load torque as the variables,the result shows that rotating speed and load torque has an effect on the harmonic gear transmission accuracy,but the effect of load torque more significantly.In research soft wheel and just round the backlash between the precision of harmonic gear drive,the influence of adopting the method of numerical analysis and simulation was carried out on the gear side clearance simulation,the simulation results show that the change of the backlash on the motion state of harmonic gear in the absence of the shock,impact unilateral and bilateral transformation.In the study of soft contact friction between wheel and wheel,the hall current sensor and the measurement of angular displacement sensor friction torque experiment,the results show that the friction torque at low speed and high speed respectively have different status and get the angular displacement and the relationship between the friction torque.For the above the established mathematical model of nonlinear factors,combination of moment balance,motor torque balance equation and equation of electric circuit,establish the model of the harmonic gear drive.To sum up,this article will adopt the method of experiment and numerical simulation analysis of dynamic and static characteristics of the harmonic gear,motion error and backlash and friction are studied,finally using the integrated model method to set up the integrated model of harmonic gear and verified...