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Deformation analysis of the flexspline of harmonic drive gears considering the driving speed effect using laser sensors

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Science China(Technological Sciences) 2017年第8期60卷 1175-1187页

作者： MA DongHui WU JiaNing LIU Tao YAN ShaoZe State Key Laboratory of Tribology Department of Mechanical Engineering Tsinghua University Beijing 100084 China

Accurate description of the elastic deformation of the flexspline is the foundation for optimization design of the structure and conjugate profiles of the harmonic drive gear. This paper proposed an experimental method to investigate the effect of the driving speed on the deformation characteristics of the flexspline. First, an experimental apparatus that integrates a special-fabricated micro-displacement platform and a pair of laser displacement sensors is developed, and the radial displacement of the flexspline is measured in vertical and horizontal directions. Next, the deformation analyses of the flexspline at different driving speeds are performed with our method and the conventional method, and the comparison results reveal that the radial displacement of the flexspline is actually composed of both harmonic and random components, and the amplitude decreases and tends to zero with the increase of the driving speed, especially near the closed end of the flexspline. Last, the mechanisms of the inherent multi-frequency and amplitude attenuation characteristics of the radial displacement of the flexspline are discussed. It is indicated that the impact and friction existing in the flexible bearing of the wave generator is likely responsible for the existence of the random component, and the assumption of linear distribution of the ftexspline deformation along the rotating axis is invalid under high speed condition. Our research promotes the further study on the contact-impact problem of the flexible bearing of the wave generator and the transfer characteristic of the elastic deformation of the flexspline.

关键词： harmonic drive gear flexspline radial displacement driving speed laser displacement sensor flexible bearing

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