谐波传动系统齿廓优化设计与侧隙控制补偿

Optimization design of tooth profile of harmonic drive system and backlash control compensation

基于ANSYS有限元仿真数据,采用包络法对谐波减速器的刚、柔轮共轭齿廓进行设计和初步优化。在对刚轮空间齿廓进一步优化时,在刚轮与柔轮齿廓之间设定一个齿侧间隙常数,建立谐波传动系统的动力学模型,采用PID控制补偿方法对谐波传动系统的齿侧间隙误差控制补偿进行研究。结果表明,借助仿真数据初步优化后的刚轮空间齿廓与柔轮空间变形能够较好贴合,刚、柔轮的啮合状态得到明显改善;PID控制补偿方法对齿侧间隙造成的系统误差具有较好的调节作用,能在1.5 s内使误差趋近于0,提高了谐波传动系统模型建立的准确性,有利于提高谐波系统的传动精度。

Based on ANSYS finite element simulation data,the envelope method was used to design and initially optimize the circular spline and flexspline conjugate tooth profile of the harmonic reducer.In order to further optimize the circular spline space tooth profile,a dynamic model of harmonic drive system was established by setting a backlash constant between the circular spline and flexspline tooth profile,and PID control compensation method was used to study the backlash error control and compensation of the harmonic drive system.The results show that the space tooth profile of the circular spline and the deformation of the flexspline space after preliminary optimization with the aid of simulation data can fit well,and the meshing state of the circular spline and the flexspline is significantly improved.The PID control compensation method has a significant effect on the system error caused by the tooth backlash,which can make the error close to 0 within 1.5 s.This method improves the accuracy of the harmonic drive system model establishment,and helps improve the transmission accuracy of the harmonic system.