谐波减速器传动机构的动态仿真研究  

Dynamic Simulation Research on the Transmission Mechanism of Harmonic Reducer

作　　者：王祥 肖曙红[1] WANG Xiang;XIAO Shu-hong(School of Mechanical and Electrical Engineering,Guangdong University of Technology,Guangdong Guangzhou 510006,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006

出　　处：《机械设计与制造》2021年第9期283-286,290,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金(50975051)。

摘　　要：为了研究谐波减速器在实际工作状态下的变形情况,利用Adams对模型进行动态仿真。谐波减速器齿轮均采用双圆弧齿形,因此首先对齿形进行设计,并通过solidworks建立谐波传动装置各零部件的模型。然后在Ansys Workbench中对柔轮进行静力学分析,查看柔轮的应力分布以及变形情况。最后利用Adams建立谐波减速器的刚柔混合模型,实现柔轮和刚轮的动态仿真。通过仿真分析可以看到谐波减速器的传动过程比较平稳,柔轮与刚轮轮齿之间的啮合情况良好,因此可以说明减速器的传动机构设计合理。In order to study the deformation of harmonic reducer under actual working conditions,the model was dynamically simulated by Adams.The gears of harmonic reducer adopt double circular arc shape,so designing the tooth shapes firstly,and establishing each component of harmonic drive device in solidworks.Then the static analysis of the flexible wheel was carried out to check the stress distribution and the deformation of the flexible wheel.Finally,using Adams to establish the rigid-flexible hybrid model of harmonic reducer,and then achieving the dynamic simulation of flexible and rigid wheels.Through the simulation analysis,it could be seen that the transmission process of harmonic reducer was relative smooth,and the meshing condition between flexible and rigid wheel teeth was good.Therefore,the results verified the design of harmonic reducer was reasonable.

关 键 词：谐波减速器 双圆弧 柔轮 有限元分析 刚柔耦合模型 动态仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TH132.43