结构参数驱动的谐波传动齿廓设计及参数优化  

Tooth profile design and parameter optimization of elliptical arc harmonic drive

作　　者：王家序[1,2] 周伟[1,2] 王成[1,2] 向果[1,2] WANG Jiaxu;ZHOU Wei;WANG Cheng;XIANG Guo(State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,China;College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400044,China)

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400044 [2]重庆大学机械与运载工程学院,重庆400044

出　　处：《华中科技大学学报（自然科学版）》2023年第6期68-74,82,共8页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(52105052)。

摘　　要：基于改进运动学法,提出结构参数驱动的谐波传动齿廓设计方法.该方法由结构参数决定柔轮凸齿廓,然后用柔轮凸齿廓来共轭求刚轮齿廓,最后用刚轮凸齿廓共轭求柔轮凹齿廓.该方法减少了输入参数,消除了刚轮凸齿廓的差异问题,增加了双共轭区域.为进一步提高谐波传动的传动性能,以增加共轭区域Ⅰ和减少空白区域为目标,进行了单变量和多变量分析.结果表明:共轭区域Ⅰ的最大值和空白区域的最小值都存在于存在共轭齿廓与不存在共轭齿廓的交界面上;采取合理的柔轮分度圆到中性层的距离、径向变形量系数及柔轮弧倾角,可以增加双共轭区域,提高谐波传动的传动性能.Based on the improved motion theory,the tooth profile design method of harmonic drive driven by structural parameters was proposed.In this method,the convex tooth profile of the flexspine was determined by the structural parameters,then the convex tooth profile of the flexspine was conjugated to obtain the tooth profile of the circular spline,and finally the concave tooth profile of the flexspine was obtained by conjugate of the convex tooth profile of the circular spline.The method reduces the input parameters,eliminates the difference of convex tooth profile of circular spline,and increases the biconjugate region.In order to further improve the transmission performance of harmonic drive,univariate and multivariate analyses were carried out to increase conjugate regionⅠand reduce blank region.The results show that both the maximum value of conjugate regionⅠand the minimum value of blank region exist on the interface with and without conjugate points.It can increase the double conjugate area and improve the transmission performance of harmonic drive by taking reasonable distance between the flexspine indexing circle and neutral layer,radial deformation coefficient and flexspine arc angle.

关 键 词：谐波传动 椭圆弧齿廓 共轭齿廓 侧隙分析 优化设计 

分 类 号：TH132.43[机械工程—机械制造及自动化]