谐波齿轮传动误差主频重构与双向频谱分析

Main frequency reconstruction and bi-directional spectrum research on transmission error of harmonic drive

基于改善谐波齿轮传动误差和回程误差的需要,提出一种主频余弦波重构谐波齿轮传动误差的分析方法。首先根据谐波齿轮的传动特点分析其主要基础误差频率,包括柔轮转频、波发生器转频、柔轮啮频和刚轮啮频等。通过余弦波叠加分析各基础主频余弦波及其组合下的拍频特征。对实测双向传动误差进行傅里叶变换,提取基础主频和实际主频余弦波近似重构出传动误差,验证了主频成分重构误差的可行性。最后,对比分析了一体式和滑块式凸轮波发生器作用下的双向传动误差。研究表明,通过滑块结构改善波发生器的偏心状态能够有效改善传动误差,回程误差的产生与双向传动误差常量大小的变化及各主频相位的变化有关。

Based on the need of improving the Harmonic Drive Transmission Error(HDTE)and hysteresis error,an analysis method based on the reconstruction of HDTE with Main Frequency Cosine Waves(MFCW)was proposed.The basic main frequencies of HDTE including flexspline rotation frequency,wave generator rotation frequency,flexspline engagement frequency and circular spline engagement frequency were concluded according to the transmission characteristics of the harmonic drive.By superimposing the cosine waves,the beat frequency characteristics of each basic main frequency and their combination were analyzed.The Fourier transform is performed on the measured bidirectional HDTE that was approximately reconstructed by basic MFCW and actual MFCW,which verified the feasibility of reconstructing the HDTE by the MFCW.A comparative analysis of bi-directional HDTE caused by integrate-type and slider-type cam wave generators was conducted.Results showed that improving the eccentric of the wave generator by slider-structure could effectively improve the HDTE,and the generation of the hysteresis error was related to the magnitude variation of the constant component of the bi-directional HDTE and the phase variation of MFCW.