短筒谐波减速器齿廓设计及装配力学特性分析

Gear Profile Design and Assembly Mechanical Characteristics Analysis of Short-tube Harmonic Reducer

为了降低谐波减速器柔轮装配变形后的倾角的影响,以传统的余弦波发生器为研究对象提出一种轴向带有0.98°倾角的三维波发生器。设计基于包络理论法的双圆弧公切线齿廓,并进行谐波传动平面运动学分析。通过Abaqus软件对柔轮与波发生器装配过程的有限元分析,得到柔轮的装配变形、应力分布情况。与余弦波发生器装配结果对比发现,采用带有倾角的三维波发生器装配使柔轮长轴处径向变形量更接近理论值0.35mm,柔轮最大应力从865.7MPa降低至682.3MPa,显著降低柔轮装配应力,使柔轮后端面与筒体连接处应力分布更加均匀。圆周方向0°~180°应力值保持在24.4~176.172MPa。

In order to reduce the influence of the inclination angle of the flexspline of the harmonic reducer after the assembly deformation,taking the traditional cosine wave generator as the object,a three-dimensional wave generator with an inclination angle of 0.98°is proposed.Design the double-arc common tangent tooth profile based on the envelope theory method,and carry out the plane kinematics analysis of harmonic drive.The assembly process of the flexspline and the wave generator is simulated by Abaqus,and the assembly deformation and stress distribution of the flexspline are obtained.Compared with the assembly results of the cosine wave generator,it is found that the use of an inclined three-dimensional wave generator assembly makes the radial deformation at the long axis of the flexible closer to the theoretical value 0.35mm,and the maximum stress of the flexspline is reduced from 865.7MPa to 682.3MPa,significantly reduces the assembly stress of the flexible,and makes the stress distribution at the connecting part of the rear end of the flexspline and cylinder more uniform,and the stress value of 0°~180°in the circumferential direction is maintained at 24.4~176.2MPa.