Dynamic performance analysis of harmonic gears based on finite element and rack approximation method

WEN Xia; HE Xueming; WANG Run; MU Yanming

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Dynamic performance analysis of harmonic gears based on finite element and rack approximation method

更新时间：2025-12-31

- Dynamic performance analysis of harmonic gears based on finite element and rack approximation method
- Journal of Mechanical Transmission Pages: 1-8(2025)
- 作者机构：
  
  1.内江职业技术学院智能制造与汽车学院，内江 641199
  2.江南大学机械工程学院，无锡 214122
- 作者简介：
- 基金信息：
- DOI：
  CLC： TH132
- Received：03 December 2025，
  
  Published Online：31 December 2025，
- 稿件说明：
移动端阅览
温霞，何雪明，王润，等.基于有限元的齿条近似法谐波齿轮动态性能分析［J］.机械传动，XXXX，XX（XX）：1-8.

WEN Xia，HE Xueming，WANG Run，et al.Dynamic performance analysis of harmonic gears based on finite element and rack approximation method［J］.Journal of Mechanical Transmission，XXXX，XX（XX）：1-8.
温霞，何雪明，王润，等.基于有限元的齿条近似法谐波齿轮动态性能分析［J］.机械传动，XXXX，XX（XX）：1-8. DOI：

WEN Xia，HE Xueming，WANG Run，et al.Dynamic performance analysis of harmonic gears based on finite element and rack approximation method［J］.Journal of Mechanical Transmission，XXXX，XX（XX）：1-8. DOI：

摘要

目的

谐波齿轮是机器人传动系统的核心部件，其动态性能直接决定系统的使用寿命与运行稳定性。为探究柔轮与刚轮完整啮合状态下的动态力学特性，采用齿条近似法结合有限元仿真开展分析。

方法

采用齿条近似法推导柔轮与刚轮的齿廓数学模型；基于UG NX12.0与Visual Studio平台实现谐波齿轮的参数化自动建模；借助Ansys Workbench有限元软件，对柔轮与刚轮162个齿依次啮合的过程进行动态仿真，系统研究负载变化下柔轮最大应力的分布规律。

结果

仿真结果表明，随着负载增大，柔轮最大应力由齿根区域向周围齿面均匀分散；随着负载降低，柔轮最大应力同步递减；高负载工况下，柔轮齿根处应力集中效应显著，且该效应随负载减轻逐渐缓和。揭示了谐波齿轮啮合过程中应力分布与负载的关联规律，为谐波齿轮的结构优化设计与性能提升提供了依据。

Abstract

Objective

Harmonic gears are key components of robotic transmission systems

and their dynamic performance directly determines the service life and operational stability of the entire system. To investigate the dynamic mechanical characteristics of harmonic gears under the full meshing state of the flexible and circular spline

the analysis was carried out by adopting the rack approximation method combined with finite element simulation.

Methods

The mathematical models of the tooth profiles of the flexible and circular spline were derived using the rack approximation method. Parametric automatic modeling of the harmonic gear was realized based on UG NX12.0 and Visual Studio platforms. Dynamic simulations of the sequential meshing process of 162 teeth between the flexible and circular spline were carried out by means of Ansys Workbench finite element software

and the distribution law of the maximum stress of the flexible gear under varying loads was systematically studied.

Results

The simulation results show that with the increase of load

the maximum stress of the flexible gear is uniformly dispersed from the tooth root area to the surrounding tooth surfaces; with the decrease of load

the maximum stress value of the flexible gear decreases synchronously. Under high-load conditions

the stress concentration effect at the tooth root of the flexible gear is significant

and this effect is gradually alleviated with the reduction of load. This study reveals the correlation law between stress distribution and load during the meshing process of harmonic gears

and provides a basis for the structural optimization design and performance improvement of harmonic gears.

关键词

Keywords

references

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