Research on a Novel Tooth Profile Design of Harmonic Gears Based on Improved Kinematics and Transient Dynamics

Deng Yang; He Xueming; Li Pengchao; Mu Yanming

doi:10.16578/j.issn.1004.2539.2023.11.006

您当前的位置：

首页 >

文章列表页 >

Research on a Novel Tooth Profile Design of Harmonic Gears Based on Improved Kinematics and Transient Dynamics

Theory·Research | 更新时间：2023-12-01

- Research on a Novel Tooth Profile Design of Harmonic Gears Based on Improved Kinematics and Transient Dynamics
- Journal of Mechanical Transmission Vol. 47, Issue 11, Pages: 37-42(2023)
- 作者机构：
  
  1.内江职业技术学院智能制造与汽车学院，四川内江 641199
  2.江南大学机械工程学院，江苏无锡 214122
  3.江南大学江苏省食品先进制造装备技术重点实验室，江苏无锡 214122
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.11.006
  CLC：
- Published：15 November 2023，
  
  Received：24 November 2022，
  
  Revised：01 June 2023，
扫描看全文
邓杨,何雪明,李鹏超等.基于改进运动学法和瞬态动力学的谐波齿轮新型齿廓设计研究[J].机械传动,2023,47(11):37-42.

Deng Yang,He Xueming,Li Pengchao,et al.Research on a Novel Tooth Profile Design of Harmonic Gears Based on Improved Kinematics and Transient Dynamics[J].Journal of Mechanical Transmission,2023,47(11):37-42.
邓杨,何雪明,李鹏超等.基于改进运动学法和瞬态动力学的谐波齿轮新型齿廓设计研究[J].机械传动,2023,47(11):37-42. DOI： 10.16578/j.issn.1004.2539.2023.11.006.

Deng Yang,He Xueming,Li Pengchao,et al.Research on a Novel Tooth Profile Design of Harmonic Gears Based on Improved Kinematics and Transient Dynamics[J].Journal of Mechanical Transmission,2023,47(11):37-42. DOI： 10.16578/j.issn.1004.2539.2023.11.006.

摘要

为了提升谐波减速器的啮合性能、改善机器人的工作性能，提出了基于改进运动学法和瞬态动力学的谐波齿轮新型齿廓设计方法。首先，针对公切线双圆弧齿廓和S型齿廓的特点，提出了由S型齿廓和公切线双圆弧齿廓相结合的新型柔轮齿廓；其次，基于改进运动学法计算了共轭刚轮的齿廓，并运用瞬态动力学方法对比分析了在不考虑塑形变形情况下齿廓谐波齿轮的啮合侧隙和柔轮应力。对比分析发现，在不考虑塑形变形情况下，新型齿廓谐波齿轮具有更小的啮合侧隙和等效应力，最小啮合侧隙仅为0.003 6 mm，给定负载工况下最大等效应力仅为1 211.6 MPa，与双圆弧齿廓柔轮、S型齿廓柔轮、公切线双圆弧齿廓相比都明显降低；新型齿廓设计方法可有效改善谐波齿轮的传动性能，为高性能谐波齿轮设计奠定了理论基础。

Abstract

To improve the meshing performance of harmonic reducers and the working performance of robots

a novel tooth profile design method for harmonic gears based on the improved kinematics and transient dynamics is proposed. Firstly

based on the characteristics of common tangent double arc tooth profile and S-type tooth profile

a new flexible tooth profile is proposed

which is the combination of S-type tooth profile and common tangent double arc tooth profile. Secondly

the tooth profile of the steel gear is calculated based on the improved kinematics method. Finally

the meshing backlash between the different tooth profiles and the stress of flexsplines without considering plastic deformation are analyzed based on the transient dynamics method. Through comparative analysis

it is found that the new tooth profile without considering plastic deformation has smaller meshing backlash and equivalent stress

the minimum meshing backlash is only 0.003 6 mm

the maximum equivalent stress under the given load condition is only 1 211.6 MPa

which are significantly lower than those of the double circular arc tooth profile flexspline

the S-shaped tooth profile flexspline

and the common tangent double circular arc tooth profile. The novel tooth profile design method can effectively improve the transmission performance of harmonic gears

which lays a theoretical foundation for the design of high-performance harmonic gears.

关键词

谐波齿轮改进运动学瞬态动力学新型齿廓设计啮合性能

Keywords

Harmonic gearImproved kinematicsTransient dynamicsNovel tooth profile designMeshing performance

references

MUSSER C W.Strain wave gearing：US2906143［P］.1959-09-29.

沈允文.渐开线谐波齿轮啮合研究中的几个问题［J］.齿轮，1979（3）：17-27.

SHEN Yunwen.A few problems in the study of the engagement of involute harmonic gears［J］.Gear，1979（3）：17-27.

MAITI R.A novel harmonic drive with pure involute tooth gear pair［J］.Journal of Mechanical Design，2004，126（1）：178-182.

OGUZ K，FEHMI E.Shape optimization of tooth profile of a flexspline for a harmonic drive by finite element modelling［J］.Materials and Design，2007，28（2）：441-447.

BIKASH R，RATHINDRANATH M，ASOK K R，et al.An investigation on secondary force contacts of tooth pairs in conventional harmonic drives with involute toothed gear set［J］.Proceedings of the Institution of Mechanical Engineers，Part C：Journal of Mechanical Engineering Science，2016，230（4）：622-638.

陈晓霞，牛洪波，姚云鹏，等.渐开线谐波齿轮柔轮最高装配应力分析研究［J］.华中科技大学学报（自然科学版），2020，48（5）：73-79.

CHEN Xiaoxia，NIU Hongbo，YAO Yunpeng，et al.Study on analysis of maximum assembly stress of flexspline in involute harmonic drive［J］.Journal of Huazhong University of Science and Technology （Natural Science Edition），2020，48（5）：73-79.

KONDO K，TAKADA J.Study on tooth profiles of the harmonic drive［J］.ASME Journal of Mechanical Design，1990，112（1）：131-137.

ISHIKAWA S.Tooth profile of spline of strain wave：EP0266972A3［P］.1989-08-30.

辛洪兵，何惠阳，谢金瑞.精密谐波齿轮传动采用圆弧齿廓的合理性证明［J］.长春光学精密机械学院学报，1997，20（3）：47-50.

XIN Hongbing，HE Huiyang，XIE Jinrui.Proof of reasonableness of adopting circular arc profile in precision harmonic drive［J］.Journal of Changchun Institute of Optics and Fine Mechanics，1997，20（3）：47-50.

辛洪兵.双圆弧谐波齿轮传动基本齿廓设计［J］.中国机械工程，2011，22（6）：656-662.

XIN Hongbing.Design for basic rack of harmonic drive with double-circular-arc tooth profile［J］.China Mechanical Engineering，2011，22（6）：656-662.

CHEN X，LIU Y，XING J，et al.The parametric design of double-circular-arc tooth profile and its influence on the functional backlash of harmonic drive［J］.Mechanism and Machine Theory，2014，73（2）：1-24.

陈晓霞，林树忠，邢静忠.谐波齿轮传动中基于柔轮装配变形的共轭精确算法［J］.中国机械工程，2010，21（17）：2053-2057.

CHEN Xiaoxia，LIN Shuzhong，XING Jingzhong.Exact conjugate algorithm based on assembly deformation of flexspline in harmonic drives［J］.China Mechanical Engineering，2010，21（17）：2053-2057.

王家序，周祥祥，李俊阳，等.杯形柔轮谐波齿轮传动三维双圆弧齿廓设计［J］.浙江大学学报（工学版），2016，50（4）：616-624.

WANG Jiaxu，ZHOU Xiangxiang，LI Junyang，et al.Three dimensional profile design of cup harmonic drive with double circular arc common tangent tooth profile［J］.Journal of Zhejiang University （Engineering Science），2016，50（4）：616-624.

肖季常，贺小飞，杨勇，等.三圆弧谐波齿轮传动齿廓设计［J］.机械传动，2019，43（10）：51-55.

XIAO Jichang，HE Xiaofei，YANG Yong，et al.Tooth profile design of tri-arc harmonic gear drive［J］.Journal of Mechanical Transmission，2019，43（10）：51-55.

张宁，张英杰，李阳帆.考虑齿轮形变的谐波减速器齿廓优化方法［J］.西安交通大学学报，2019，53（12）：31-37.

ZHANG Ning，ZHANG Yingjie，LI Yangfan.Optimization method for double-arc tooth profile of harmonic reducer［J］.Journal of Xi'an Jiaotong University，2019，53（12）：31-37.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Structure Design and Simulation of a Spherical Coupled Cervical Spine Rehabilitation Robot

Fatigue Life Prediction of the Pin Coupling with Elastic Sleeves Based on Transient Dynamics and the ARIMA Model

Design of the New Flex Wheel Tooth Profile for Harmonic Drive Based on Transient Dynamics

Hobbing Error Analysis of Harmonic Gear Large Modified Flexspline and Hob Design

Analysis of Manufacturing Errors and Its Influence on Meshing Performance of Herringbone Gears

Related Author

Wang Zheng

Cao Yongxin

Liu Fanghua

Bao Cheng

Hu Yuming

Xiong Xin

Guo Kai

He Xueming

Related Institution

School of Mechanical Engineering, Jiangsu University of Science and Technology

Yunnan Key Laboratory of Artificial Intelligence, Kunming University of Science and Technology

Faculty of Information Engineering and Automation, Kunming University of Science and Technology

Key Laboratory of Advanced Food Manufacturing Equipment Technology

Engineer Training Center, Tianjin University of Technology and Education

⁰