A method for detection and quantification of meshing characteristics of harmonic drive gears using computer vision  

作　　者：MA DongHui WU JiaNing YAN ShaoZe MA DongHui;WU JiaNing;YAN ShaoZe(State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University)

机构地区：[1]State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University

出　　处：《Science China(Technological Sciences)》2016年第9期1305-1319,共15页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant No.11272171);the Beijing Natural Science Foundation(Grant No.3132030);the Education Ministry Doctoral Fund of China(Grant No.20120002110070)

摘　　要：A lack of accurate description of the meshing characteristics and the corresponding frictional mechanism of the harmonic drive gear has limited progress toward modeling the hysteresis stiffness. This paper presents a method for detection and quantification of the meshing characteristics of the harmonic drive gear based on computer vision. First, an experimental set-up that integrates a high speed camera system with a lighting system is developed, and the image processing is adopted to extract and polish the tooth profiles of the meshed teeth pairs in each acquired video sequence. Next, a physical-mathematical model is established to determine the relative positions of the selected tooth pair in the process of the gear engagement, and the combined standard uncertainty is utilized to evaluate the accuracy of the calculated kinematics parameters. Last, the kinematics analysis of the gear engagement under the ultra-low speed condition is performed with our method and previous method, and the influence of the input rotational speed on the results is examined. The results validate the effectiveness of our method, and indicate that the conventional method is not available in the future friction analysis. It is also shown that the engaging-in phase is approximately a uniform motion process, the engaging-out phase is a variable motion process, and these characteristics remain unchanged with the variation of the input rotational speed. Our method affords the ability to understand the frictional mechanism on the meshed contact surfaces of the harmonic drive gear, and also allows for the dynamic monitoring of the meshing properties.

关 键 词：harmonic drive gear gear engagement computer vision image processing kinematics analysis uncertainty analysis 

分 类 号：TG86[金属学及工艺—公差测量技术] TP391.41[自动化与计算机技术—计算机应用技术]