An Inverse Analysis Method of Transmission Accuracy of Harmonic Reducer based on Multi-factor Coupling

Linna Zhao; Long Wang; Jin Fang; Deyong Li; Kai Wang; Haiyue Li; Huanbin Xu; Guangqiang Xing; Yue Zhang; Ning Wang

doi:10.16578/j.issn.1004.2539.2021.03.004

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An Inverse Analysis Method of Transmission Accuracy of Harmonic Reducer based on Multi-factor Coupling

Theory·Reserach | 更新时间：2022-11-10

- An Inverse Analysis Method of Transmission Accuracy of Harmonic Reducer based on Multi-factor Coupling
- Journal of Mechanical Transmission Vol. 45, Issue 3, Pages: 19-24(2021)
- 作者机构：
  
  1.北京卫星制造厂有限公司，北京 100094
  2.中国空间技术研究院总体部，北京 100094
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.03.004
  CLC：
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赵琳娜,汪龙,方金等.一种基于多因素耦合的谐波减速器传动精度逆向分析方法[J].机械传动,2021,45(03):19-24.

Zhao Linna,Wang Long,Fang Jin,et al.An Inverse Analysis Method of Transmission Accuracy of Harmonic Reducer based on Multi-factor Coupling[J].Journal of Mechanical Transmission,2021,45(03):19-24.
赵琳娜,汪龙,方金等.一种基于多因素耦合的谐波减速器传动精度逆向分析方法[J].机械传动,2021,45(03):19-24. DOI： 10.16578/j.issn.1004.2539.2021.03.004.

Zhao Linna,Wang Long,Fang Jin,et al.An Inverse Analysis Method of Transmission Accuracy of Harmonic Reducer based on Multi-factor Coupling[J].Journal of Mechanical Transmission,2021,45(03):19-24. DOI： 10.16578/j.issn.1004.2539.2021.03.004.

摘要

谐波减速器的传动误差是由零件加工及装配过程中的几何偏心和运动偏心等偏心矢量耦合而成的，具有频域性特点，并且各种单因素引起的传动误差分布概率符合瑞利分布。通过空间运动学、谐波啮合原理，建立了基于瑞利分布的传动误差多因素耦合模型，完成了置信区间可达99%的谐波减速器传动误差的预判模型。通过预判模型能够计算出各传动误差源的权重系数，提出一种基于误差源权重系数、从控制零件加工制造精度重新优化分配传动误差的逆向分析方法，在满足传动误差设计指标的同时，可最大程度降低加工制造的难度及成本，具有重要的工程应用价值。最后，针对40型谐波齿轮减速器进行传动精度的逆向理论分析和实验验证对比，实测结果与理论计算值吻合。

Abstract

Transmission error of harmonic reducer is coupled by eccentric vectors such as geometric eccentricity and motion eccentricity during parts machining and assembly， and has frequency domain characteristics. The probability of transmission error distribution caused by various single factors conforms to Rayleigh distribution. The multi-factor coupling model of transmission error based on Rayleigh distribution is established through spatial kinematics and harmonic engagement principle， and a prediction model of transmission error of harmonic reducer with confidence interval up to 99% is completed. The weight coefficient of each transmission error source can be calculated by the prediction model. An inverse analysis method based on weight coefficient of error source to re-optimize allocation of transmission error from control of machining and manufacturing accuracy of parts is proposed， which can reduce the difficulty and cost of machining and manufacturing to the greatest extent while meeting the design index of transmission error and has important engineering application value. Finally， the reverse theoretical analysis and experimental verification comparison of transmission accuracy of 40 type harmonic gear reducer are carried out. The measured results agree with the theoretical calculation values.

关键词

谐波减速器传动精度概率模型逆向分析

Keywords

Harmonic reducerTransmission accuracyProbability modelInverse analysis

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