机器人用杯形谐波减速器应力和变形分析  

Stress and Deformation Analysis of Cup-Shaped Flexspline Harmonic Reducer for Robot

作　　者：易伟锋 刘泓滨[1] 吴智恒 张华伟 韩守磊 YI Weifeng;LIU Hongbin;WU Zhiheng;ZHANG Huawei;HAN Shoulei(Kunming University of Science and Technology,Kunming Yunnan 106742,China;Institute of Intelligent Manufacturing,GDAS,Guangzhou Guangdong 510070,China;Guangzhou Haozhi Industrial Co.,Ltd.,Guangzhou Guangdong 511356,China)

机构地区：[1]昆明理工大学,云南昆明106742 [2]广东省科学院智能制造研究所,广东广州510070 [3]广州市昊志机电股份有限公司,广东广州511356

出　　处：《机床与液压》2024年第3期44-48,共5页Machine Tool & Hydraulics

基　　金：广东省重点领域研发计划项目(2019B090917004);佛山市核心技术攻关项目(1920001001040)。

摘　　要：针对杯形谐波减速器复杂的装配变形和应力分布,基于ANSYS软件建立有限元分析模型,分析谐波减速器在装配和加载过程中的应力和变形规律。研究结果表明:波发生器与柔轮装配时,柔轮和轴承外圈产生了不同程度的倾斜;刚轮与柔轮装配后,柔轮和轴承外圈在长轴位置的最大径向变形量分别相比前者减少14.1%和9.1%;随着负载的增大,柔轮应力增长趋势为变斜率上升,153 N·m后柔轮应力加速上升,斜率约为0.354;通过三维应变测量系统对柔轮装配变形进行测量,实验与仿真结果基本一致。研究结果表明柔轮、轴承和刚轮对谐波减速器应力和变形分布都有较大影响,其为谐波减速器的设计、使用和性能试验提供数据支撑。Aiming at the complex assembly deformation and stress distribution of cup shaped harmonic reducers,a finite element analysis model was established based on ANSYS software to analyze the stress and deformation laws of the harmonic reducer during assembly and loading.The research results show that the wave generator and the flexible wheel assembly causes varying degrees of tilting of the flexible wheel and bearing outer ring;after the assembly of the rigid wheel and flexible wheel,the maximum radial deformation of the flexible wheel and bearing outer ring at the long axis position is reduced by 14.1%and 9.1%,respectively;as the load increases,the stress growth trend of the flexible wheel shows an increasing slope;after 153 N·m,the stress of the flexible wheel accelerates,with a slope of approximately 0.354;the deformation of the flexible wheel assembly is measured using a 3D strain measurement system,and the experimental and simulation results are basically consistent.The research results indicate that flexible wheels,bearings,and rigid wheels have a significant impact on the stress and deformation distribution of harmonic reducers,providing data support for the design,use,and performance testing of harmonic reducers.

关 键 词：谐波减速器 柔轮 轴承 变形测量 

分 类 号：TS642[轻工技术与工程] TP391[自动化与计算机技术—计算机应用技术]