谐波传动共轭齿廓的运动学仿真研究

Kinematics Computerized Simulation for Conjugate Tooth Profiles of Harmonic Drive

根据包络理论 ,通过建立谐波齿轮传动共轭齿廓分析的通用数学模型 ,在已知柔轮齿廓的条件下可求得与之共轭的刚轮理论齿廓的离散点 ,通过最小二乘拟合的方法求得刚轮的工作齿廓 ,并通过啮合区段干涉检验法来校验齿廓的重叠干涉 ,最后通过计算机程序对所求的刚、柔轮工作齿廓进行运动学仿真以验证所求工作齿廓的合理性 ,还通过实例对程序进行了验证。本文的方法为探索谐波齿轮用新型工作齿廓提供了一条可行的途径 。

On the basic of the envelope theory and computer numerical simulation, this paper establishes the universal mathematical model for conjugating profiles analysis of harmonic drive. By known of the flexspline profiles, the discrete points in the theoretical profiles of circular spline which conjugates with flexspline profiles, can be gained. Through curve fitting method of least squares the working profiles of circular spline are received, and overlap interference check of tooth profiles is made by using the method of conjugating section interference check. Finally by computer program the kinematics simulation of working tooth profiles of the flexspline engaged with the circular spline can be made, and the rationality of the tooth profiles can be proved. Calculational example is proves the accuracy of the program. The method can be used to search new type working tooth profiles, and can made small ratio harmonic drive possible.