Contact Analysis for Short Harmonic Reducer in Robotic Joints

doi:10.7652/xjtuxb201305015

您当前的位置：

首页 >

文章列表页 >

Contact Analysis for Short Harmonic Reducer in Robotic Joints

更新时间：2025-07-09

- Contact Analysis for Short Harmonic Reducer in Robotic Joints
- Vol. 47, Issue 5, Pages: 82-87(2013)
- 作者机构：
  
  西安交通大学机械工程学院,西安,710049
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb201305015
  CLC： TH132.2
- Online First：10 May 2013，
  
  Published：2013
- 稿件说明：
移动端阅览
Contact Analysis for Short Harmonic Reducer in Robotic Joints[J]. 2013, 47(5): 82-87.
DOI：

Contact Analysis for Short Harmonic Reducer in Robotic Joints[J]. 2013, 47(5): 82-87. DOI： 10.7652/xjtuxb201305015.

摘要

为了研究机器人关节常用短筒谐波减速器在不同负载下的接触应力和变形分布

采用ANSYS有限元分析软件

建立了柔轮和波发生器面面接触的空载有限元模型

并根据实验得到的啮合力公式

对柔轮与刚轮的啮合边界条件进行了计算。在此基础上

利用前置条件共轭梯度法求解了柔轮在不同载荷下的应力与变形

分析了柔轮应力和变形与所受载荷之间的关系及其变化规律

发现负载的增大可使柔轮齿圈截面的变形和应力增量呈等比增大

且不会引起变形和应力增量分布位置的变化。通过柔轮空载的变形实验、柔轮破坏实例以及柔轮轴向应力分布实验的比较发现

所计算的结果与实验结果较为吻合

为谐波减速器短筒柔轮承载能力的计算、结构及制造工艺的优化提供了一种准确、有效的方法。

Abstract

To reveal contact stress and deformation distribution of short harmonic reducer in robotic joints under different loads

an unloaded surface to surface contact finite element model between flexspline and wave generator is established. The boundary condition of the engagement between flexspline and rigid spline is evaluated according to the experimental engaging force formula. The stress and deformation of the flexspline are solved by precondition conjugate gradient method

and the relationship with varying loads are analyzed. It is found that the deformation and stress increments on the flexspline ring cross section increase geometrically with heightened load

and the distributions of the deformation and stress increments remain unchanged. The conclusions are compatible with the cases of unloaded flexspline deformation

flexspline destruction and axial stress distribution under load.

关键词

Keywords

references

SLATTER R, MACKRELL G. Harmonic drives in tune with robots [J]. Industrial Robot, 1994, 21(3): 24-25.

GENI M, KIKUCHI M. Key engineering materials [M]. Zurich, Switzerland: Trans Tech Publications Ltd., 2003: 129-134.

张世民, 李春雷. 基于ANSYS的谐波减速器柔轮受力分析 [J]. 传动技术, 2009, 23(1): 13-17.

ZHANG Shimin, LI Chunlei. ANSYS based analysis of flexspline in harmonic drive [J]. Drive System Technique, 2009, 23(1): 13-17.

薄书信. 谐波齿轮传动柔轮应力及轮齿磨损分析 [D]. 哈尔滨: 哈尔滨工业大学, 2008.

吴伟国, 张勇, 梁风. 具有啮合齿面接触对的谐波传动有限元模型建立与分析 [J]. 机械传动, 2011, 35(12): 39-41.

WU Weiguo, ZHANG Yong, LIANG Feng. Stablishment and analysis of FEM model for harmonic drive with contact pairs between meshing tooth surface [J]. Journal of Mechanical Transmission, 2011, 35(12): 39-41.

OSTAPSKI W, MUKHA I. Stress state analysis of harmonic drive elements by FEM [J]. Technical Sciences, 2007, 55(1): 115-123.

OSTAPSKI W. Analysis of the stress state in the harmonic drive generator-flexspline system in relation to selected structural parameters and manufacturing deviations [J]. Technical Sciences, 2010, 58(4): 683-698.

高海波, 李志刚, 邓宗全. 基于ANSYS的杯形柔轮结构参数对柔轮应力的敏感度分析 [J]. 机械工程学报, 2010, 46(5): 2-6.

GAO Haibo, LI Zhigang, DENG Zongquan. Sensitivity analysis of cup-shaped flexible gear parameters to its stress based on ANSYS [J]. Journal of Mechanical Engineering, 2010, 46(5): 2-6.

向国齐. 谐波齿轮传动柔轮有限元分析研究 [D]. 成都: 四川大学, 2005.

KAYABASI O, ERZINCANLI F. Shape optimization of tooth profile of a flexspline for a harmonic drive by finite element modeling [J]. Materials and Design, 2007, 28(2): 441-447.

伊万诺夫 M H. 谐波齿轮传动 [M]. 沈允文, 李克美, 译. 北京: 国防工业出版社, 1987: 19-143.

董惠敏. 基于柔轮变形函数的谐波齿轮传动运动几何学及其啮合性能研究 [D]. 大连: 大连理工大学, 2008.

关崇复, 袁盛治. 谐波传动柔轮筒体应力计算 [J]. 机械强度, 1994, 16(1): 29-30.

GUAN Chongfu, YUAN Shengzhi. A stress calculation on flexspline of the harmonic drive [J]. Journal of Mechanical Strength, 1994, 16(1): 29-30.

沈允文, 叶庆泰. 谐波齿轮传动的理论和设计 [M]. 北京: 机械工业出版社, 1985: 228-230.

梁恩志,陆小龙,赵世平,等.二维桁架路径模型的自动生成算法.2012,46(5):91-96.

李庆凯,唐德威,姜生元,等.管道机器人弯管运动转体原因分析.2011,45(10):19-23.

党进,倪风雷,刘业超,等.一种前馈补偿和模糊滑模相结合的柔性机械臂控制.2011,45(3):75-80.

张国亮,谢宗武,蒋再男,等.模糊化多视觉信息融合的视觉跟踪策略.2009,43(8):33-37.

袁明新,王孙安,吴灿阳,等.Baldwin效应的自适应免疫网络规划算法.2009,43(5):85-89.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Turbulent Kinetic Energy Dissipation Mechanism of Supercritical Carbon Dioxide Leakage Flow in a Scallop Bionic Seal Cavity

Mechanism and Optimal Control Strategy for Hysteresis in Rapid Dehumidification Response of Indirect Thermal Systems in Electric Vehicles

Diffusion Characteristics and Influencing Factors in Case of Hydrogen Leakage from Fuel Cell Vehicles Running in Tunnels

Effects of Steam Addition on the Swirl Combustion and Emission Characteristics of Cracked Ammonia

Review of the Application of EBSILON Software in Combined Heat and Power System Optimization

Related Author

No data

Related Institution

No data

⁰