谐波齿轮传动系统传动误差的精细分析

Fine analysis of harmonic drive transmission error

分析输出刚轮切向综合误差和基节误差等多项重要误差源对传动误差的贡献及其频率,采用按随机过程理论得 到的误差平均因子和单位换算系统,建立统一的较全面反映各种误差因素的单台具有杯形或环形柔轮的谐波齿轮传动 装置的传动误差计算公式,按6σ原则,导出一批谐波齿轮传动装置的传动精度统计公式。它们可分别应用于具有杯形 或环形柔轮的谐波齿轮传动的精度评估,或应用于非线性动力学研究中传动误差环节的建模。

Analyses the frequencies and contributions to transmission error of tangential composite error and base pitch error of output spline and other important error sources in harmonic drive,that are missed in previous studies,and introduces new error-average factor derived from stochastic process theory and unit-transformation coefficient,then establishes the uniform formula for transmission error calculating for one set of harmonic drive device,whether or not it includes a cup style flexspline or a ring style flexspline,and based on the 6 σ theory,sets up the statistic formula of transmission accuracy calculating for a supply of harmonic drive.The formulae can be used in harmonic drive that applies a cup style flexspline or a ring style flexspling,and used in the nonlinear dynamic research for transmission error modeling.