精密谐波齿轮输入轴扭转刚度和迟滞测试

Test for torsional stiffness and hysteresis of input shaft of precision harmonic gear

文章为了研究小扭矩作用下谐波齿轮输入轴扭转刚度及迟滞变化,专门研制了一套精密谐波齿轮扭转刚度测试系统。固定谐波齿轮输出轴,将力矩加载盘与输入轴固接,采用力偶的形式加载双向连续变化扭矩,利用CCD测角相机拍摄力矩加载前后的靶标图像,通过特定的图像处理软件计算出谐波齿轮输入轴转动的角度;测试结果表明:被测谐波齿轮的输入轴转角-力矩特性曲线为明显的滞回曲线,在所受力矩方向发生改变,并从0逐步增加过程中,扭转刚度锐减,特别是在±(0.1～0.2)N.m附近刚度降低明显,其迟滞约50°,且在柔轮不同工位下差别不大。

To study the torsional stiffness and hysteresis of input shaft of harmonic gear under small torque, a precision harmonic gear torsional stiffness test system is developed. The output shaft of the harmonic gear is fixed, and the torque plate is fastened with the input shaft and loaded by force couple, which is continuous and changes bidirectionally. Target images before and after torsion are sampled by CCD camera, then the torsional angle of the input shaft is calculated by the image processing software. The test results show that the angle-torque curve of the input shaft is a typical hysteretic curve. The torsional stiffness is very small when the torque changes its direction and increases gradually from zero. Especially near ± （0. 1-0.2） N . m, the torsional stiffness decreases sharply. The hysteresis is about 50° and it is almost the same when the flexible wheel is assembled in different angle.