Study on Hysteresis Curve Characteristic of Input Shaft of Harmonic Reducer

Tang Xiaohuan; Wang Xiangjiang; Feng Dongyan

doi:10.16578/j.issn.1004.2539.2016.08.007

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Study on Hysteresis Curve Characteristic of Input Shaft of Harmonic Reducer

更新时间：2022-10-20

- Study on Hysteresis Curve Characteristic of Input Shaft of Harmonic Reducer
- Vol. 40, Issue 8, Pages: 29-32(2016)
- 作者机构：
  
  1. 南华大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.08.007
  CLC：
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[1]唐小欢,王湘江,冯栋彦.谐波减速器输入轴迟滞曲线的特性研究[J].机械传动,2016,40(08):29-32.

Tang Xiaohuan, Wang Xiangjiang, Feng Dongyan. Study on Hysteresis Curve Characteristic of Input Shaft of Harmonic Reducer. [J]. 40(8):29-32(2016)
[1]唐小欢,王湘江,冯栋彦.谐波减速器输入轴迟滞曲线的特性研究[J].机械传动,2016,40(08):29-32. DOI： 10.16578/j.issn.1004.2539.2016.08.007.

Tang Xiaohuan, Wang Xiangjiang, Feng Dongyan. Study on Hysteresis Curve Characteristic of Input Shaft of Harmonic Reducer. [J]. 40(8):29-32(2016) DOI： 10.16578/j.issn.1004.2539.2016.08.007.

摘要

介绍了谐波减速器的扭转刚度与回差的测试装置,并对其进行实验研究。固定谐波减速器的输出轴,在输入轴施加单向渐变力矩并利用量角仪测量输入轴转动角度;对测量数据进行处理,拟合出输入轴迟滞曲线方程。通过多次测量实验验证,建立的迟滞曲线方程与多次实际测量的误差在3.8%以下;不同力矩值加载的结果显示,谐波齿轮的回差主要是由传动链间的间隙、柔轮的变形滞后、各零部件的制造和安装误差等造成的。

Abstract

A test device of torsional stiffness and hysteresis of the harmonic drive reducer are described and its experimental study is carried out. The output shaft of the harmonic gear is fixed,one- way gradual change torque is applied to the input shaft and a protractor instrument is applied to measure the rotation angle of the input shaft. To deal with measurement data,the hysteresis curve equation of input shaft is fitted by using the data. Through many times measurement experiments,the test result show that the hysteresis curve equation and several actual measurement error below 3. 8%. According to the results of different load torque value,the hysteresis of harmonic gear primarily is caused by deformation of flexspline lag,all parts of the manufacturing,installation errors and the clearance between the transmission chain.

关键词

谐波减速器扭转刚度回差渐变力矩

Keywords

Harmonic reducerTorsional stiffnessHysteresisGradual change torque

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