工业机器人谐波减速器柔轮应力分析与疲劳强度评估  

Stress analysis and fatigue strength evaluation of flexsplines of industrial robot harmonic reducer

作　　者：余娴 梁学修 巩潇 肖科[2] 韩彦峰[2] YU Xian;LIANG Xuexiu;GONG Xiao;XIAO Ke;HAN Yanfeng(China Software Testing Center(MIIT Software and Integrated Circuit Promotion Center),Beijing 100048,CHN;State Key Laboratory of Mechanical Transmissions,Chongqing University,Chongqing 400044,CHN)

机构地区：[1]中国软件评测中心(工业和信息化部软件与集成电路促进中心),北京100048 [2]重庆大学机械传动国家重点实验室,重庆400044

出　　处：《制造技术与机床》2023年第8期79-82,共4页Manufacturing Technology & Machine Tool

基　　金：国家重点研发计划“智能机器人重点专项”(2022YFB4702205)。

摘　　要：针对工业机器人谐波减速器柔轮杯体的疲劳断裂失效,基于圆柱壳体理论的模型评估了柔轮杯体应力周向分布,并分析了负载、柔轮壁厚和直径对应力的影响。结果表明相比于柔轮直径,应力对柔轮壁厚更敏感,而负载扭矩对柔轮轴向和周向应力几乎没有影响;柔轮应力主要来源于波发生器迫使柔轮杯体发生的周向弯曲变形,轴向弯曲形变产生的应力次之,扭转形变产生的剪切应力最小。最后,根据文章研究结果,提出了柔轮疲劳失效强度的评估方法。In order to study the fatigue fracture failure in the flexsplines of the industrial robot harmonic reducers,the model based on cylindrical shell theory was used to evaluate the circumferential distribution of stress in the flexsplines and the effects of load,wall thickness and diameter on the stress was also analyzed.The result shows that the stress is more sensitive to the wall thickness than the diameter of flexsplines,while the load torque has little effect on the axial and circumferential stress in the flexsplines.Stress of the flexsplines mainly comes from the circumferential bending deformation forced by the wave generator,it also comes from the axial bending deformation and the torsional deformation.Finally,the evaluation method of fatigue failure strength in the flexsplines was proposed based on the study.

关 键 词：工业机器人 谐波减速器 柔轮 疲劳失效强度 

分 类 号：TH117.1[机械工程—机械设计及理论]