谐波减速器柔轮外表面伸长及其对啮合的影响

Outer Surface Elongation of Flexspline and Its Influence on Harmonic Drive Meshing

谐波减速器侧隙的精确计算对于谐波减速器传动性能研究、承载能力计算和齿廓设计等至关重要,目前的研究多基于中性线不伸长理论,计算装配后柔轮齿廓的方位,进行齿廓设计。考虑到轮齿生长于柔轮外表面,而装配会使柔轮外表面产生应变,进而带动轮齿偏移,提出了基于柔轮齿圈外表面变形的空载侧隙求解方法;对空载侧隙进行了计算,发现新方法计算的柔轮装配会出现齿廓干涉,应在齿廓设计或谐波减速器结构设计时予以考虑。采用有限元方法对解析解进行了验证,二者结果基本吻合。

The accurate calculation of the backlash of harmonic reducers is crucial for the study of trans-mission performance,load capacity calculation,and tooth profile design of harmonic reducers.The current re-search is based on the neutral line no-elongation theory,calculating the assembly of flexible gear tooth profile.Considering the fact that gear teeth grow in the flexspline outer surface,assembly will make flexspline outer sur-face deform,leading to deviation of gear teeth.In this study,the method for solving the no-load clearance is pro-posed based on the flexspline outer surface deformation.The results show that the new method for calculating the flexspline assembly may present tooth profile interference,which should be considered in tooth profile de-sign or harmonic reducer design.The finite element method is used to verify the analytical solution,and the two results are basically consistent.