精密谐波齿轮输出轴端扭转刚度测试与分析

Test and Analysis of Torsional Stiffness on Output Shaft of Precision Harmonic Gear

针对实际应用过程中,精密谐波齿轮在小力矩加载时存在整体输出扭转刚度不足的问题,设计了一套谐波齿轮输出轴端扭转刚度测试系统。固定谐波齿轮输入轴,采用双向力偶的形式通过力矩盘在其输出轴施加双向渐变力矩,利用光学自准直仪精确测量输出轴转动的角度,从而计算出被测谐波齿轮输出轴扭转刚度。完成了某精密谐波齿轮在6个不同工位时的扭转刚度测量,测试结果表明被测谐波齿轮输出轴转角—力矩特性在不同工位下存在差异,但扭转刚度足够大,不是整体输出刚度不足的原因。

In practical application,especially under small torque,total output torsional stiffness of precision harmonic gear is much less than its nominal value.To find out the reason,a set of precision torsional stiffness test system on output shaft of harmonic gear is designed.The input shaft of the harmonic gear is fixed,bi-directional gradual change force couple is applied to the output shaft through a torque plate.A photoelectric autocollimator is used to measure the tiny rotation angle of the output shaft.Then precision torsional stiffness of the output shaft can be calculated out.Torsional stiffness tests of a certain type of precision harmonic gear in 6 different working positions are carried out.Test results show that the angle-torque characteristics of the measured harmonic gear are different when it’s in different working positions,the torsional stiffness of the output shaft is high enough and it will not lead to the insufficient stiffness of the harmonic gear.