Research on Nonlinear Dynamics Modeling and Simulation of Harmonic Gear Drive

Yang Luo; Manyi Chen; Jie Zhang; Ran Yang; Han Zhang

doi:10.16578/j.issn.1004.2539.2021.04.010

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Research on Nonlinear Dynamics Modeling and Simulation of Harmonic Gear Drive

Design· Calculation | 更新时间：2022-11-10

- Research on Nonlinear Dynamics Modeling and Simulation of Harmonic Gear Drive
- Journal of Mechanical Transmission Vol. 45, Issue 4, Pages: 58-63(2021)
- 作者机构：
  
  1.武汉理工大学机电工程学院，湖北武汉 430070
  2.武汉理工大学绍兴高等研究院，浙江绍兴 312000
  3.浙江来福谐波传动股份有限公司，浙江绍兴 312000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.04.010
  CLC：
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罗阳,陈满意,张杰等.谐波齿轮传动非线性动力学建模及仿真研究[J].机械传动,2021,45(04):58-63.

Luo Yang,Chen Manyi,Zhang Jie,et al.Research on Nonlinear Dynamics Modeling and Simulation of Harmonic Gear Drive[J].Journal of Mechanical Transmission,2021,45(04):58-63.
罗阳,陈满意,张杰等.谐波齿轮传动非线性动力学建模及仿真研究[J].机械传动,2021,45(04):58-63. DOI： 10.16578/j.issn.1004.2539.2021.04.010.

Luo Yang,Chen Manyi,Zhang Jie,et al.Research on Nonlinear Dynamics Modeling and Simulation of Harmonic Gear Drive[J].Journal of Mechanical Transmission,2021,45(04):58-63. DOI： 10.16578/j.issn.1004.2539.2021.04.010.

摘要

由于结构的特殊性，迟滞刚度和动态摩擦属于谐波齿轮传动的固有属性。传统模型将刚度考虑为定刚度或分段刚度模型，摩擦考虑为静态摩擦模型，这样的简化会导致谐波齿轮传动的动态分析精度下降。为了提高谐波齿轮传动的动态分析精度和传动性能，考虑非线性迟滞刚度和动态摩擦现象，提出了一种基于记忆特性迟滞刚度和LuGre动态摩擦的谐波齿轮传动动力学模型，建立了相应仿真模型，讨论了谐波齿轮参数对系统输出的影响。结果表明，“刚度迟滞现象”导致系统输出值减小，传动效率降低；传动刚度系数越大，系统越稳定；阻尼转矩系数越大，传动效率越低。

Abstract

Due to the particularity of the structure，the hysteretic stiffness and dynamic friction belong to the inherent properties of harmonic gear drive. Traditional models consider the stiffness as a fixed stiffness or segmented stiffness model，and the friction as a static friction model. Such simplification will lead to the decrease of the dynamic analysis accuracy of harmonic gear drive system. In order to improve the dynamic analysis accuracy and transmission performance of harmonic gear drive，considering the nonlinear hysteretic stiffness and dynamic friction phenomenon，a dynamics model of harmonic gear drive based on memory characteristic hysteresis stiffness and LuGre dynamic friction is proposed，and the corresponding simulation model is established. The effects of harmonic gear parameters on the system output are discussed. The results show that the stiffness hysteresis phenomenon leads to the decrease of system output and transmission efficiency， the larger the transmission stiffness coefficient， the more stable the system， the larger the damping torque coefficient， the lower the transmission efficiency.

关键词

谐波齿轮传动迟滞刚度LuGre摩擦模型动力学建模仿真

Keywords

Harmonic gear driveHysteresis stiffnessLuGre friction modelDynamics modelingSimulation

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