谐波减速器的扭转刚度试验研究

Experimental Study on Torsional Stiffness of Harmonic Reducer

谐波减速器的扭转刚度涉及工作状态下工业机器人的定位控制精度,是一种重要机械性能参数。本文根据谐波减速器扭转刚度的测试原理,研制相应的扭转刚度测试装置,在静态扭转载荷和动态扭转载荷作用下对两款谐波减速器进行扭转刚度测试,根据各种扭转刚度计算方法,得到不同的扭转刚度值,并比较差别。通过测试,得到了谐波减速器扭转刚度相关参数,为优化谐波减速器设计提供技术数据参考。

Torsional stiffness of harmonic reducer is an important mechanical performance parameter,which is related to the accuracy of positioning control on industrial robots under a certain working condition. According to the testing principle of torsional stiffness of harmonic reducer,the corresponding torsional stiffness testing device is developed. The torsional stiffness of two harmonic reducers is tested under both static torsional load and dynamic torsional load. According to various calculation methods of torsional stiffness,different torsional stiffness values are obtained and compared. Through the test above,some relevant parameters of torsional stiffness of harmonic reducer are obtained,which provides technical support for the optimizing design of harmonic reducer.