The Tooth Profile Design And Dynamic Analysis Of Harmonic Gear Drive

Harmonic drive reducer realizes deceleration and power transmission through elastic deformation of flexible wheel,It has the advantages of small size,light weight,simple structure and large transmission ratio,It is widely used in space agencies,robots and other fields.However,the deformation of the flexspline is a space problem.The rigid wheel conjugated tooth profile designed according to the traditional plan ar kinematics theory,may cause meshing intermeshing or insufficient meshing.In view of this problem,the following studies are carried out in this paper.Analyze the plane kinematics in the harmonic drive and obtain the tooth profile of the rigid wheel.The process of loading the analog wave generator into the flexure wheel was simulated.A wave generator model containing a flexible bearing was established to make the simulation closer to reality.Taking the maximum stress on the flex-wheel as the evaluation index,an orthogonal test was designed to optimize the tooth profile parameters and structural parameters of the flex-wheel.Analyzed the geometrical deformation of the flex-wheel,studied the law of the deformation of the neutral layer of the flex-wheel with the axial change,and proposed a modified model of the amount of deformation of the neutral-layer curve.Combined with the envelope theory,the space tooth profile of the rigid wheel was designed.Research on transient dynamics characteristics such as displacement,velocity,stress and strain of the flex-wheel during the transmission of harmonics has verified the superiority of the free-wheel space profile in transmission.At the same time,a certain amount of research has been done on the fatigue life and intrinsic properties of flexspline.