Description of neutral line of harmonic drive flexspline with geometric property interpolation

Jing-zhong XING; Li-teng SHI; Yun-peng YAO; Xiao-xia CHEN

doi:10.37188/OPE.20202807.1519

您当前的位置：

首页 >

文章列表页 >

Description of neutral line of harmonic drive flexspline with geometric property interpolation

Micro/Nano Technology and Fine Mechanics | 更新时间：2020-08-13

- Description of neutral line of harmonic drive flexspline with geometric property interpolation
- Optics and Precision Engineering Vol. 28, Issue 7, Pages: 1519-1527(2020)
- 作者机构：
  
  天津工业大学机械工程学院, 天津 300387
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20202807.1519
  CLC： TH132.43
- Received：02 December 2019，
  
  Revised：05 February 2020，
  
  Accepted：05 February 2020，
  
  Published：15 July 2020
- 稿件说明：
移动端阅览
Jing-zhong XING, Li-teng SHI, Yun-peng YAO, et al. Description of neutral line of harmonic drive flexspline with geometric property interpolation[J]. Optics and precision engineering, 2020, 28(7): 1519-1527.
DOI：

Jing-zhong XING, Li-teng SHI, Yun-peng YAO, et al. Description of neutral line of harmonic drive flexspline with geometric property interpolation[J]. Optics and precision engineering, 2020, 28(7): 1519-1527. DOI： 10.37188/OPE.20202807.1519.

摘要

为了减少现有力学小变形假定下通过位移叠加表达导致的轮齿定位偏差，以长轴具有等曲率圆弧的凸轮波发生器为例，提出包角内利用凸轮等距线确定中面曲线，包角外利用两端斜率和曲率连续性条件，并考虑变形前后曲线的弧长增量等于周向力引起的伸长，构造以样条函数表达的柔轮中面曲线。在有限元环境中建立圆环与双偏心圆弧凸轮波发生器的接触模型，对位移叠加表达的柔轮中面曲线和本文的几何特征拟合的表达结果，利用有限元模型在小变形和大变形求解条件下进行数值验证。认为有限元模型在大变形求解条件下的非线性结果更符合实际，并以其为准则计算各方法的结果偏差。算例表明：现有基于小变形的理论解和有限元的小变形数值结果均与更贴合实际的大变形结果存在较大偏差。在30°包角模型中本文方法的极角偏差降低了约0.006°，极径偏差降低了约0.013 mm。本文方法在模型包角在25°~65°之间时更贴近实际，且易于实现，消除了几何大变形、接触非线性和中面伸长等因素对中面曲线表达的影响，为谐波齿轮齿廓设计提供更准确的轮齿定位。

Abstract

The existing neutral line expressed through displacement superposition under the small deformation assumption leads to a large positioning deviation of the flexspline teeth. By taking the double disk wave generator as an example

the neutral line in the wrap angle was determined using the CAM isometric line. The outside neutral line expressed using a spline function was constructed based on the continuous conditions

such as slope and curvature

at both ends

and the difference between the tension of the neutral line was equal to the elongation produced by the circumferential force. A Finite Element Method (FEM) model of the tooth ring in contact with a circular cam was developed to verify the geometric interpolation method and the neutral line expressed with radial and circumferential displacements numerically under small and large deformations

respectively. The differences between the verification examples were calculated using the large deformation results

which were considered more suitable for the actual conditions. The examples showed that both theoretical solutions and the FEM model based on small deformation had more significant differences with the more reasonable FEM results for the large deformation case. In the 30° wrap angle model

the pole angle of the proposed method decreased by approximately 0.006°

and the pole diameter decreased by approximately 0.013 mm. The method derived based on the geometric condition in this study was closer to actual conditions and easy to implement when the model envelope angle ranged between 25° and 65°. The proposed model eliminates the influence of large geometric deformation

contact nonlinearity

and neutral line elongation in providing more accurate gear tooth positioning for the tooth profile design of harmonic drives.

关键词

Keywords

references

沈允文 , 叶庆泰 . 谐波齿轮传动的理论和设计 , : 北京机械工业出版社 , 1985 . 1 - 55 . 1-16, 52-55 .

Y W SHEN , Q T YE . Theory and Design of Harmonic Drive , : Beijing China Machine Press , 1985 . 1 - 55 . 1-16, 52-55 .

MUSSER C W. Strain wave gearing: US, 2906143[P]. 1955-09-29.

陈晓霞 , 刘玉生 , 邢静忠 , 等 . 谐波齿轮中柔轮中性层的伸缩变形规律 . 机械工程学报 , 2014 . 50 ( 21 ): 189 - 196 . http://d.old.wanfangdata.com.cn/Periodical/jxgcxb201421029 http://d.old.wanfangdata.com.cn/Periodical/jxgcxb201421029 .

X X CHEN , Y SH LIU , J ZH XING , 等 . Neutral line stretch of flexspline in harmonic driver . Journal of Mechani-cal Engineering , 2014 . 50 ( 21 ): 189 - 196 . http://d.old.wanfangdata.com.cn/Periodical/jxgcxb201421029 http://d.old.wanfangdata.com.cn/Periodical/jxgcxb201421029 .

O KAYABASI , F Erzincanli . Shape optimization of tooth profile of a flexspline for a harmonic drive by finite element modelling . Materials & Design , 2007 . 28 ( 2 ): 441 - 447 . http://cn.bing.com/academic/profile?id=becba277cbb6a6f4519453328381c30d&encoded=0&v=paper_preview&mkt=zh-cn http://cn.bing.com/academic/profile?id=becba277cbb6a6f4519453328381c30d&encoded=0&v=paper_preview&mkt=zh-cn .

王家序 , 刘彪 , 周祥祥 , 等 . 双圆弧谐波齿轮传动齿廓设计与参数分析 . 四川大学学报(工程科学版) , 2016 . 48 ( 3 ): 164 - 170 . http://d.old.wanfangdata.com.cn/Periodical/scdxxb-gckx201603022 http://d.old.wanfangdata.com.cn/Periodical/scdxxb-gckx201603022 .

J X WAN , B LIU , X X ZHOU , 等 . Double-circular-arc tooth profile design and parametric analysis of harmonic drive . Journal of Sichuan University (Engineering Science Edition) , 2016 . 48 ( 3 ): 164 - 170 . http://d.old.wanfangdata.com.cn/Periodical/scdxxb-gckx201603022 http://d.old.wanfangdata.com.cn/Periodical/scdxxb-gckx201603022 .

伊万诺夫.谐波齿轮传动[M].沈允文, 李克美, 译.北京: 国防工业出版社, 1987: 80-90.

IWANNOV M N. The Harmonic Drive [M]. SHEN Y W, LI K M, transl. Beijing: National Defense Industry Press, 1987: 80-90. (in Chinese)

陈晓霞 , 林树忠 , 邢静忠 . 谐波齿轮传动中基于柔轮装配变形的共轭精确算法 . 中国机械工程 , 2010 . 21 ( 17 ): 2053 - 2057 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgjxgc201017010 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgjxgc201017010 .

X X CHEN , SH ZH LIN , J ZH XING . Exact conjugate algorithm based on assembly deformation of flexspline in harmonic drives . China Mechanical Engineering , 2010 . 21 ( 17 ): 2053 - 2057 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgjxgc201017010 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgjxgc201017010 .

X X CHEN , Y S LIU , J Z XING , 等 . A novel method based on mechanical analysis for the stretch of the neutral line of the flexspline cup of a harmonic drive . Mechanism and Machine Theory , 2014 . 76 1 - 19 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=a1959066c8e2cd1e591e19513f617e14 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=a1959066c8e2cd1e591e19513f617e14 .

DONG H M, WANG D L. Elastic deformation characteristic of the flexspline in harmonic drive[C]. 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. IEEE, 2009: 363-369.

杨勇 , 王家序 , 周青华 , 等 . 椭圆凸轮波发生器零侧隙谐波齿轮传动共轭齿廓精确求解 . 中南大学学报(自然科学版) , 2017 . 48 ( 12 ): 3231 - 3238 . http://d.old.wanfangdata.com.cn/Periodical/zngydxxb201712013 http://d.old.wanfangdata.com.cn/Periodical/zngydxxb201712013 .

Y YANG , J X WANG , Q H ZHOU , 等 . Exact solution for conjugate profiles of zero backlash harmonic drives with elliptical cam wave generators . Journal of Central South University (Science and Technology) , 2017 . 48 ( 12 ): 3231 - 3238 . http://d.old.wanfangdata.com.cn/Periodical/zngydxxb201712013 http://d.old.wanfangdata.com.cn/Periodical/zngydxxb201712013 .

D H MA , J N WU , T LIU , 等 . Deformation analysis of the flexspline of harmonic drive gears considering the driving speed effect using laser sensors . Science China Technological Sciences , 2017 . 60 ( 8 ): 1175 - 1187 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgkx-ee201708006 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgkx-ee201708006 .

吴上生 , 孙韩磊 , 杨琪 . 谐波传动柔轮空间齿廓设计与制造工艺 . 华南理工大学学报(自然科学版) , 2019 . 47 ( 1 ): 32 - 38+85 . http://www.cnki.com.cn/Article/CJFDTotal-HNLG201901005.htm http://www.cnki.com.cn/Article/CJFDTotal-HNLG201901005.htm .

SH SH WU , H L SUN , Q YANG . Design and manufacturing technology of flexspline's spatial tooth profile in harmonic drive . Journal of South China University of Technology(Natural Science Edition) , 2019 . 47 ( 1 ): 32 - 38+85 . http://www.cnki.com.cn/Article/CJFDTotal-HNLG201901005.htm http://www.cnki.com.cn/Article/CJFDTotal-HNLG201901005.htm .

王敏杰 , 范元勋 , 祖莉 . 谐波齿轮传动共轭齿廓求解方法的研究 . 组合机床与自动化加工技术 , 2015 . ( 2 ): 13 - 16 . http://d.old.wanfangdata.com.cn/Periodical/zhjc201502004 http://d.old.wanfangdata.com.cn/Periodical/zhjc201502004 .

M J WANG , Y X FAN , L ZU . Study on solving method for conjugate profiles of harmonic gear drive . Modular Machine Tool & Automatic Manufacturing Technique , 2015 . ( 2 ): 13 - 16 . http://d.old.wanfangdata.com.cn/Periodical/zhjc201502004 http://d.old.wanfangdata.com.cn/Periodical/zhjc201502004 .

王家序 , 袁攀 , 李俊阳 , 等 . 基于不同啮合原理的谐波传动齿廓研究 . 华中科技大学学报(自然科学版) , 2017 . 45 ( 3 ): 58 - 64 . http://d.old.wanfangdata.com.cn/Periodical/hzlgdxxb201703010 http://d.old.wanfangdata.com.cn/Periodical/hzlgdxxb201703010 .

J X WANG , P YUAN , J Y LI , 等 . Tooth profile research of harmonic drive based on different engagement theory . Journal of Huazhong University of Science and Technology (Natural Science Edition) , 2017 . 45 ( 3 ): 58 - 64 . http://d.old.wanfangdata.com.cn/Periodical/hzlgdxxb201703010 http://d.old.wanfangdata.com.cn/Periodical/hzlgdxxb201703010 .

陈晓霞 , 林树忠 , 邢静忠 , 等 . 基于挠性构件变形的谐波齿轮装配模型 . 计算机集成制造系统 , 2011 . 17 ( 2 ): 338 - 343 . http://d.old.wanfangdata.com.cn/Periodical/jsjjczzxt201102017 http://d.old.wanfangdata.com.cn/Periodical/jsjjczzxt201102017 .

X X CHEN , SH ZH LIN , J ZH XING , 等 . Assembly model of harmonic gear based on elastic component deformation . Computer Integrated Manufacturing Systems , 2011 . 17 ( 2 ): 338 - 343 . http://d.old.wanfangdata.com.cn/Periodical/jsjjczzxt201102017 http://d.old.wanfangdata.com.cn/Periodical/jsjjczzxt201102017 .

Views

612

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰