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Analysis of Contact Mechanical Characteristics of Flexible Parts in Harmonic Gear Reducer

机译：谐波减速器柔性件接触机械特性分析

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Harmonic gear reducer is widely used in industrial robots, aerospace, optics, and other high-end fields. The failure of harmonic gear reducer is mainly caused by the damage of flexible bearing and flexspline of thin-walled vulnerable components. To study the contact mechanical characteristics of flexible components such as flexible bearing and flexspline in harmonic gear reducer, the contact mechanical model of flexible bearing, vibration differential equation of flexspline, and finite element model of each component in harmonic gear reducer were established. Based on the established model of harmonic gear reducer, the influence of the length of flexspline cylinder and the thickness of cylinder bottom on the stress of flexspline is discussed, respectively, and the motion characteristics of flexible bearing are studied. At the same time, the spatial distribution of the displacement of the flexspline and the axial vibration response of the flexspline are studied. The correctness of the model established in this paper is verified by experiments. The results show that the increase of cylinder length can improve the stress of flexspline in harmonic gear reducer; the wall thickness of cylinder bottom mainly affects the stress at the bottom of flexspline but has little effect on the stress of gear ring and smooth cylinder. Along the axis direction of the flexspline, the radial displacement, circumferential displacement, and angular displacement increase linearly with the increase of the axial distance between the cylinder and the bottom. When the excitation frequency is high, the vibration mode of flexspline shell is mainly axial vibration. The research results will provide a theoretical reference for the optimal design of harmonic gear reducer and improving the service life of flexible parts.
机译：谐波减速机广泛用于工业机器人，航空航天，光学和其他高端领域。谐波减速器的失效主要由柔性轴承和薄壁脆弱部件的柔性轴承件的损坏引起。为研究柔性部件的接触机械特性，如柔性轴承和柔性轴承芯片的谐波减速器，建立了柔性轴承，柔性轴承率，振动差分方程的接触机械模型，以及谐波减速器中每个部件的有限元模型。基于谐振齿轮减速器的既定模型，勘探柔性桩筒长度的影响及圆柱底部的厚度讨论了柔性轴线应力的研究，研究了柔性轴承的运动特性。同时，研究了柔韧截面的位移的空间分布和柔韧截面的轴向振动响应。通过实验验证了本文建立的模型的正确性。结果表明，汽缸长度的增加可以提高谐波齿轮减速器中柔性桩的应力;圆柱底的壁厚主要影响柔性孔底部的应力，但对齿轮环和平滑缸的应力几乎没有影响。沿柔性件的轴方向，径向位移，周向位移和角位移随着圆柱和底部之间的轴向距离的增加而线性地增加。当激励频率高时，Flexspline壳的振动模式主要是轴向振动。研究结果将为谐波减速器的最佳设计提供理论参考，提高柔性部件的使用寿命。

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