考虑磨损与变形的谐波齿轮精度可靠性分析与优化设计  

Accuracy reliability analysis and optimization design of harmonic gear considering wear and deformation

作　　者：潘柏松[1,2] 方宽 文娟 项涌涌 翁微妮 PAN Baisong;FANG Kuan;WEN Juan;XIANG Yongyong;WENG Weini(College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China;Key Laboratory of Special Equipment Manufacturing and Advanced Processing Technology, Ministry of Education, Zhejiang University of Technology, Hangzhou 310014, China;Bosch Power Tools(China) Co.,Ltd., Hangzhou 310052, China)

机构地区：[1]浙江工业大学机械工程学院,浙江杭州310014 [2]浙江工业大学特种装备制造与先进加工技术教育部重点实验室,浙江杭州310014 [3]博世电动工具(中国)有限公司,浙江杭州310052

出　　处：《计算机集成制造系统》2022年第2期355-367,共13页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金资助项目(51475425)。

摘　　要：针对谐波齿轮减速器中存在的磨损和变形因素导致减速器传动精度低、可靠性差等问题,建立考虑磨损与变形的谐波齿轮减速器传动误差模型,并进行精度可靠性分析与优化设计。通过分析传动误差的影响因素建立了传动误差模型;基于磨损经验模型和试验数据,应用贝叶斯修正方法建立动态磨损模型,同时根据试验数据和高斯过程回归建立柔轮变形模型;综合获得的传动误差模型、磨损模型和柔轮变形模型建立谐波齿轮精度可靠性模型,并应用基于拉丁超立方抽样的Kriging代理模型和蒙特卡洛法求解某谐波齿轮减速器传动精度可靠度。最后采用序列二次规划法对谐波齿轮减速器进行优化设计。优化结果表明,在工况参数(输出端负载17.5 N·m,输入端转速100 r/min)下,优化后的谐波齿轮减速器在工作时间3000 h处的可靠度达到99.02%,相比未优化前提升7.85%,而成本却只增加1.70%。To address problems that wear and deformation factors often cause a low transmission accuracy and poor reliability in the harmonic gear reducer,a transmission error model of the harmonic gear reducer considering wear and deformation factors was established,and reliability analysis and optimization design of the transmission accuracy were conducted.A transmission error model was established by analyzing influencing factors of the transmission error.The Bayesian calibration method was adopted to build the dynamic wear model based on the empirical model and experimental data,and the deformation model of the flexspline was established based on the experimental data and Gaussian process(GP)regression.A reliability model of the harmonic gear accuracy was then constructed by combining the transmission error model,the wear model and the deformation model.The Kriging surrogate model based on Latin hypercube sampling and Monte Carlo simulation method were used to calculate the transmission accuracy reliability of a specific harmonic gear reducer.The optimization design of the harmonic gear reducer was carried out with sequential quadratic programming approach.Results showed that the reliability of the harmonic gear reducer at the working time of 3000h up to 99.02%after optimization for given operation parameters(the output load was 17.5N·m,the input speed was 100r/min),which had increased by 7.85%compared with that of before optimization,while the design cost only increased by 1.70%.

关 键 词：谐波齿轮减速器 动态磨损 柔轮变形 可靠性分析 可靠性优化设计 

分 类 号：TH132.46[机械工程—机械制造及自动化]