谐波减速器的传动效率确信可靠性建模与分析

Belief reliability modeling and analysis for transmission efficiency of harmonic gear

基于可靠性科学原理,在确信可靠性理论框架下,提出了谐波齿轮传动效率确信可靠性建模与分析方法。考虑谐波齿轮传动过程中的功率损耗以及影响传动效率的多种外在因素,通过计算传动效率与其阈值之间的距离,构建传动效率裕量模型。开展多源不确定性分析与量化,构建传动效率确信可靠性模型。针对传动效率模型中的未知参数,给出了基于实测数据的极大似然估计方法。通过一个XB40-100谐波减速器的案例验证了所提方法的实用性与可行性。结果表明,所提方法可以有效地将试验数据与理论模型结合,进而准确计算谐波减速器在给定负载、转速和温度条件下的传动效率。通过确信可靠性分析,发现适当提高负载扭矩、降低转速或者提高环境温度有助于提高传动效率裕量及其可靠性。

Based on the principles of reliability science and the belief reliability theory,the belief reliability modeling and analysis for the transmission efficiency of the harmonic drive are proposed.Considering the power loss during the transmission of harmonic gears,the theoretical model for the transmission efficiency of harmonic gears is constructed,where the multiple external factors that affect the transmission efficiency,including lubrication methods,load torque,rotating,and environmental temperature are considered by introducing an agent model.The transmission efficiency margin model is constructed by calculating the distance between the transmission efficiency and its threshold.The uncertainty analysis and quantification are conducted and the belief reliability model for the transmission efficiency of the harmonic drive is constructed,where the probability measure is employed to describe aleatory uncertainties.The unknown parameters in the transmission efficiency model are estimated through maximum likelihood estimation method using transmission efficiency testing data to achieve the combination of the theoretical model and testing data.A case study of XB40-100 harmonic reducer is used to illustrate the practicability and efficiency of the proposed method.The results show that the proposed method can combine the testing data with the theoretical model effectively and calculate the transmission efficiency of the harmonic reducer accurately under the given lubrication method,load,rotating speed,and temperature conditions.The belief reliability analysis results reveal that it is conducive to improve the transmission efficiency margin and its belief reliability by increasing the load torque,reducing the rotating speed,or increasing the environmental temperature appropriately.