基于空载侧隙与周向啮合刚度的谐波减速器啮合力研究  

Research on Meshing Force of Harmonic Reducer based on No-load Backlash and Circumferential Meshing Stiffness

作　　者：王梓荧 杜群贵[1] 郑东州 胡宇航 刘孟霏 钟隆峰 Wang Ziying;Du Qungui;Zheng Dongzhou;Hu Yuhang;Liu Mengfei;Zhong Longfeng(School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,China)

机构地区：[1]华南理工大学机械工程学院,广东广州510640

出　　处：《机械传动》2021年第11期11-15,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(52075181);广东省科技发展专项资金(前沿与关键技术创新方向-重大科技专项)(2017B090910010);广东省重点领域研发计划(2019B090917004)。

摘　　要：谐波减速器啮合力分布对其承载能力、传动效率、传动精度以及使用寿命有着重要的影响。为了更准确地描述负载状态下柔轮与刚轮之间的啮合状况,提出了一种基于空载侧隙和周向啮合刚度的解析模型。利用几何法计算出装配状态下的空载侧隙;建立并分析了负载条件下柔轮力学模型,得到了周向啮合刚度矩阵。根据空载侧隙和周向啮合刚度矩阵,迭代求解得到不同负载条件下啮合力的分布。建立有限元模型验证了解析模型的准确性,结果基本吻合。The meshing force distribution of the harmonic reducer has a great effect on its carrying capac⁃ity,transmission efficiency,transmission accuracy and service life.An analytical model based on no-load back⁃lash and circumferential meshing stiffness is proposed to describe the meshing condition between flexible wheel and rigid wheel more accurately under load status.The no-load backlash in the assembled state is calculated by geometric method,and the circumferential meshing stiffness is obtained through establishing and analyzing the mechanical model of the flexspline under load.The distribution of meshing force under different load condi⁃tions is obtained by iterative solution based on the no-load backlash and the circumferential meshing stiffness matrix.A finite element model is established to verify the accuracy of the analytical model,and the results are basically consistent.

关 键 词：谐波减速器 啮合力 空载侧隙 啮合刚度 

分 类 号：TH132.46[机械工程—机械制造及自动化]