杯形柔轮谐波传动三维双圆弧齿廓设计  

Three dimensional profile design of cup harmonic drive with double-circular-arc common-tangent tooth profile

作　　者：王家序[1,2] 周祥祥[1] 李俊阳[1] 肖科[1] 周广武[2] 

机构地区：[1]重庆大学机电传动与运载装备研究所,重庆400044 [2]四川大学空天科学与工程学院,四川成都610065

出　　处：《浙江大学学报（工学版）》2016年第4期616-624,713,共10页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目(51435001;51375506);国家"863"高技术研究发展计划资助项目(2015AA043001);高等学校博士学科点专项科研基金优先发展领域课题资助项目(20120181130012);重庆市"两江学者"计划专项经费资助项目

摘　　要：为了提高装置的啮合性能,以公切线式双圆弧齿廓作为研究对象,基于柔轮装配变形及改进运动学理论获得单截面内的谐波传动精确共轭理论,建立共轭齿廓优化设计模型.考虑柔轮变形倾角的影响,采用合理调整柔轮轮齿径向位置的方法设计满足空间啮合要求的三维双圆弧齿廓谐波传动装置,开展计算机仿真分析及实验观察研究.结果表明,双圆弧齿廓谐波传动存在有效的共轭区域及有效的共轭齿廓.为了满足空间啮合要求,柔轮轮齿各截面所需调整的径向位置量与该截面至主截面间的距离成线性关系变化.设计的齿廓在主截面完全啮合,沿轴向其余截面部分啮合,仿真结果与实验观察结果基本吻合,说明了该设计的合理性.Double-circular-arc common-tangent tooth profile（DCTP）was introduced for the tooth profile of harmonic drive（HD）in order to improve the engagement quality of HD.An exact method and model for effectively designing conjugate tooth profile in a single section based on modified kinematic method and the elastic deformation of flexspline（FS）were presented.A reasonable tooth profile design method was proposed considering the influence of axial inclination angle.The method can maintain the threedimensional teeth meshing engagement of HD over a wide range by correctly shifting the tooth profile portions of FS.The relative meshing engagement of the HD with three-dimensional DCTP was analyzed by computer simulation and experimental observation methods.Results showed that the effective conjugate existent domain（CED）and conjugate tooth profile（CTP）were found.The amount of shifting in any other section perpendicular to the axis of FS increases in proportion to the distance from the research section to the main section in order to satisfy the three-dimensional engagement requirements.The designed DCTP can maintain the teeth meshing engagement over a wide range in main section and keep a partial meshing engagement in other sections along the axis of FS.The simulation results accorded with the experimental results.The correctness of the design models was effectively proved.

关 键 词：谐波传动 变形倾角 双圆弧齿廓 空间啮合 

分 类 号：TH132[机械工程—机械制造及自动化]