基于改进运动学法和瞬态动力学的谐波齿轮新型齿廓设计研究  

Research on a Novel Tooth Profile Design of Harmonic Gears Based on Improved Kinematics and Transient Dynamics

作　　者：邓杨 何雪明 李鹏超 牟彦铭 Deng Yang;He Xueming;Li Pengchao;Mu Yanming(School of Intelligent Manufacturing and Automotive,Neijiang Vocational&Technical College,Neijiang 641199,China;School of Mechanical Engineering,Jiangnan University,Wuxi 214122,China;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,Jiangnan University,Wuxi 214122,China)

机构地区：[1]内江职业技术学院智能制造与汽车学院,四川内江641199 [2]江南大学机械工程学院,江苏无锡214122 [3]江南大学江苏省食品先进制造装备技术重点实验室,江苏无锡214122

出　　处：《机械传动》2023年第11期37-42,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(51975251);四川省产教融合示范项目(“产学研用”一体化平台建设)。

摘　　要：为了提升谐波减速器的啮合性能、改善机器人的工作性能,提出了基于改进运动学法和瞬态动力学的谐波齿轮新型齿廓设计方法。首先,针对公切线双圆弧齿廓和S型齿廓的特点,提出了由S型齿廓和公切线双圆弧齿廓相结合的新型柔轮齿廓;其次,基于改进运动学法计算了共轭刚轮的齿廓,并运用瞬态动力学方法对比分析了在不考虑塑形变形情况下齿廓谐波齿轮的啮合侧隙和柔轮应力。对比分析发现,在不考虑塑形变形情况下,新型齿廓谐波齿轮具有更小的啮合侧隙和等效应力,最小啮合侧隙仅为0.0036 mm,给定负载工况下最大等效应力仅为1211.6 MPa,与双圆弧齿廓柔轮、S型齿廓柔轮、公切线双圆弧齿廓相比都明显降低;新型齿廓设计方法可有效改善谐波齿轮的传动性能,为高性能谐波齿轮设计奠定了理论基础。To improve the meshing performance of harmonic reducers and the working performance of robots,a novel tooth profile design method for harmonic gears based on the improved kinematics and transient dynamics is proposed.Firstly,based on the characteristics of common tangent double arc tooth profile and S-type tooth profile,a new flexible tooth profile is proposed,which is the combination of S-type tooth profile and common tangent double arc tooth profile.Secondly,the tooth profile of the steel gear is calculated based on the improved kinematics method.Finally,the meshing backlash between the different tooth profiles and the stress of flexsplines without considering plastic deformation are analyzed based on the transient dynamics method.Through comparative analysis,it is found that the new tooth profile without considering plastic deformation has smaller meshing backlash and equivalent stress,the minimum meshing backlash is only 0.003 6 mm,the maximum equivalent stress under the given load condition is only 1 211.6 MPa,which are significantly lower than those of the double circular arc tooth profile flexspline,the S-shaped tooth profile flexspline,and the common tangent double circular arc tooth profile.The novel tooth profile design method can effectively improve the transmission performance of harmonic gears,which lays a theoretical foundation for the design of high-performance harmonic gears.

关 键 词：谐波齿轮 改进运动学 瞬态动力学 新型齿廓设计 啮合性能 

分 类 号：TH132.41[机械工程—机械制造及自动化]