谐波减速器传动误差的研究

Study of Transmission Error of Harmonic Drive Reducer

由于谐波传动本身的复杂性,很难给出完全符合实际的传动误差计算公式,而传统的谐波减速器的传动误差估算公式往往要比实验测得的数据小很多。因此,针对谐波传动误差计算式的改进很有必要。从制造安装误差、理论瞬时传动比不稳定、侧隙等因素出发,推导建立谐波齿轮减速器的传动误差计算公式。结合具体实例计算得到谐波齿轮减速器的传动误差理论值,并通过实验验证了计算公式的正确性。

Because of the complexity of the harmonic drive, it is very difficult to propose a formula of transmission error which is fitted for reality completely. The result calculated by the traditional formula of transmission error is often smaller than the results of experiments. It is necessary to improve the formula. This paper proposes a new formula based on the analysis of three different aspects. The transmission accuracy of this reducer depends on the instantaneous transmission ratio, the manufacturing and installation error and the backlash. Through comparing the theoretical calculation value of the new formula with the experimental data, this calculation formula is proved to be correct.