共轭参数驱动的谐波传动齿廓设计与分析方法

Tooth Profile Design and Analysis Method of Harmonic Drive Driven by the Conjugate Parameter

以谐波传动中凸轮轮廓曲线为共轭齿廓形成的原始驱动参数,基于运动轨迹映射与共轭方程,提出了共轭参数驱动的谐波传动齿廓设计方法。对非共轭参数驱动与共轭参数驱动设计方法设计的共轭齿廓进行了啮合特性对比分析,研究了凸轮径向变形量系数和凸轮形式对谐波传动啮合与接触特性的影响规律。结果表明:共轭参数驱动的齿廓设计方法无须参数调整便可同时实现二次共轭和两点共轭,并且不会出现无解;凸轮径向变形量系数的减小可增大啮合区间与啮入区的啮合侧隙,并使齿面接触的综合曲率半径减小;凸轮形式虽然对啮合区间影响较小,但是对啮合侧隙和综合曲率半径影响较大,选取凸轮形式及结构参数时应综合考虑对谐波传动啮合、接触与润滑特性的影响。

Taking the cam contour curve as the original driving parameter,based on the motion locus mapping and conjugate equation,a tooth profile design method of harmonic drive driven by the conjugate parameter was proposed.The meshing performance of the conjugate tooth profiles designed by the non-conjugate parameter driving and conjugate parameter driving design methods are compared and analyzed.The influences of radial deformation coefficient and form of cam on meshing and contact performance of harmonic drive are studied.The results show that the conjugate parameter driving design method can realize twice conjugate and two-point conjugate simultaneously without parameter adjustment,and will not cause the condition of no solution.The decrease of the cam radial deformation coefficient can increase the meshing domain and the backlash of the engage-in domain,and cause the decrease of the comprehensive curvature radius of the contact tooth surface.Although the form of cam has little influence on the meshing domain,it has a great influence on the backlash and comprehensive curvature radius.The influence on the meshing,contact,and lubrication performance of harmonic drive should be considered comprehensively when selecting the form and structural parameters of cam.