Research on error analysis and compensation method for deformation measurement of flexible wheel of harmonic drive

YANG Cong-bin; GUO Qing-xu; LIU Zhi-feng; ZHANG Tao; HU Qiu-shi; ZHANG Xue-yang

doi:10.37188/OPE.20212904.0793

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Research on error analysis and compensation method for deformation measurement of flexible wheel of harmonic drive

Micro\/Nano Technology and Fine Mechanics | 更新时间：2026-09-11

- Research on error analysis and compensation method for deformation measurement of flexible wheel of harmonic drive
- Optics and Precision Engineering Vol. 29, Issue 4, Pages: 793-801(2021)
- 作者机构：
  
  1.北京工业大学先进制造技术北京市重点实验室，北京 100124
  2.江苏科技大学机械工程学院，江苏镇江 212003
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20212904.0793
  CLC： TD632.1
- Received：23 September 2020，
  
  Revised：2020-11-08，
  
  Published：15 April 2021
- 稿件说明：
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杨聪彬,郭庆旭,刘志峰等.谐波传动柔轮变形测量误差分析与补偿[J].光学精密工程,2021,29(04):793-801.

YANG Cong-bin,GUO Qing-xu,LIU Zhi-feng,et al.Research on error analysis and compensation method for deformation measurement of flexible wheel of harmonic drive[J].Optics and Precision Engineering,2021,29(04):793-801.
杨聪彬,郭庆旭,刘志峰等.谐波传动柔轮变形测量误差分析与补偿[J].光学精密工程,2021,29(04):793-801. DOI： 10.37188/OPE.20212904.0793.

YANG Cong-bin,GUO Qing-xu,LIU Zhi-feng,et al.Research on error analysis and compensation method for deformation measurement of flexible wheel of harmonic drive[J].Optics and Precision Engineering,2021,29(04):793-801. DOI： 10.37188/OPE.20212904.0793.

摘要

波发生器安装误差是柔轮变形测量中较为常见的误差来源之一，安装误差的存在使得柔轮变形与转动角度之间的函数关系产生较大偏差。为解决波发生器中心与回转中心的安装误差问题，本文对柔轮测量误差进行分析，并提出柔轮径向变形误差补偿方法。首先，基于坐标变化原理建立了偏心误差表征数学模型，获得安装偏心量、波发生器实际结构参数；其次，基于波发生器偏心径向变形函数构建了柔轮径向变形误差修正模型，对安装偏心工况下柔轮实际径向变形函数进行修正补偿。实验结果表明：在安装误差影响下柔轮变形函数峰谷偏差达0.134 mm，与理论相差较大；通过本文方法进行修正补偿后，误差在0.012 mm左右，且柔轮径向变形结果与理论变化趋势基本一致。该方法能够有效提高柔轮径向变形测量精度，为优化谐波减速器的齿廓参数奠定实验与理论基础。

Abstract

The installation error of a wave generator is a common source of error in deformation measurement of a flexspline. This installation error leads to a large deviation in the functional relationship between the deformation of the flexspline and rotation angle. In this study， we attempt to solve the problem of the installation error between the center of the wave generator and center of rotation by analyzing the measurement error of the flexspline and proposing a compensation method for the radial deformation of the flexspline. First， based on the principle of coordinate change， a mathematical model of eccentricity error characterization is established to obtain the installation eccentricity and actual structural parameters of the wave generator. Second， based on the eccentric radial deformation function of the wave generator， a correction model for the radial deformation error of the flexspline is developed to correct and compensate for the actual radial deformation function of the flexspline under eccentric installation conditions. The experimental results indicate that the peak-to-valley deviation of the flexspline deformation function corresponds to 0.134 mm under the effect of installation error， which significantly differs from the theoretical value. Following correction and compensation using the method proposed in the study， the error obtained is approximately 0.012 mm， and the radial deformation of the flexspline differs from the theoretical value. The trend is essentially identical. The method can effectively improve measurement accuracy of the radial deformation of the flexspline and establish an experimental and theoretical foundation to optimize tooth profile parameters of the harmonic reducer.

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references

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