Optimization and experimental research on a new-type short cylindrical cup-shaped harmonic reducer

In order to obtain a new-type short cylindrical cup-shaped flexspline that can be applied to space mechanisms, the APDL language of ANSYS software was employed to develop a parameterized equivalent contact model between a flexspline and a wave generator. The validity of the parameterized equivalent contact model was verified by comparing the results of the analytic value of the contact model and the value calculated by the theoretical formula. The curvilinear trend of stress was obtained by changing the structural parameter of the flexspline. Based on the curvilinear trend of stress, multi-objective optimizations of key structural parameters were achieved. Flexspline, wave generator, and circular spline of a new 32-type short cylindrical cup-shaped harmonic reducer were designed and manufactured. A performance test bench to carry out tests on the harmonic reducer was designed. Contrast experiments were implemented to determine the efficiency of the new 32-type short cylindrical cup-shaped harmonic reducer and the conventional 32-type harmonic reducer under different conditions. The experimental results reveal that there is approximately equality in terms of efficiency between the new 32-type short cylindrical cup-shaped harmonic reducer and the conventional 32-type harmonic reducer. The volume of the flexspline of the new 32-type short cylindrical cup-shaped harmonic reducer is reduced by approximately 30% through multi-objective optimization. When the new 32-type short cylindrical cup-shaped harmonic reducer is used on the wheel of a rover prototype, the mass of the wheel hub is decreased by 0.42 kg. Test analysis of wheel motion verifies that the new 32-type short cylindrical cup-shaped harmonic reducer can meet the requirements regarding bearing capacity and efficiency.

[1]  Rolf Slatter,et al.  Miniature zero-backslash gears and actuators for precision positioning applications , 2005 .

[2]  Hiroshi Yamazaki,et al.  Cutting error measurement of flexspline gears of harmonic speed reducers using laser probes , 2004 .

[3]  Xiaoxia Chen,et al.  The investigation of elongation of the neutral line in harmonic drive , 2010, 2010 International Conference On Computer Design and Applications.

[4]  M. Tomizuka,et al.  Suppression of vibration due to transmission error of harmonic drives using peak filter with acceleration feedback , 2008, 2008 10th IEEE International Workshop on Advanced Motion Control.

[5]  Gang-jun Li.  Simulation of harmonic drive in precision robotic system , 2010, 2010 Sixth International Conference on Natural Computation.

[6]  James B. Dabney,et al.  Modeling, identification, and compensation of friction in harmonic drives , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[7]  Minoru Hashimoto,et al.  Torque control of harmonic drive gears with built-in sensing , 1998, IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200).

[8]  Hua Liu,et al.  Die design for cold precision forging of bevel gear based on finite element method , 2009 .

[9]  Haibo Gao.  Sensitivity Analysis of Cup-shaped Flexible Gear Parameters to Its Stress Based on ANSYS , 2010 .

[10]  Xin Hong-bing.  Finite Element Analysis of Stress on Tooth Rim of a Flexspline , 2003 .

[11]  He Jingliang.  TOOTH CONTACT ANALYSIS OF CONICAL INVOLUTE GEARS , 2006 .

[12]  Huimin Dong,et al.  Elastic deformation characteristic of the flexspline in harmonic drive , 2009, 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots.

[13]  Se Hoon Oh,et al.  A study on stress and vibration analysis of a steel and hybrid flexspline for harmonic drive , 1999 .

[14]  Fehmi Erzincanli,et al.  Shape optimization of tooth profile of a flexspline for a harmonic drive by finite element modelling , 2007 .

[15]  W. Ostapski,et al.  Stress state analysis of harmonie drive elements by FEM , 2007 .

[16]  Fathi H. Ghorbel,et al.  A new dynamic model of hysteresis in harmonic drives , 2003, IEEE Trans. Ind. Electron..

[17]  Hong Yan,et al.  OPTIMIZATION OF TECHNOLOGICAL PARAMETERS FOR PROFILE EXTRUSION PROCESS , 2002 .

[18]  E.T. Baumgartner,et al.  The Mars Exploration Rover instrument positioning system , 2005, 2005 IEEE Aerospace Conference.

[19]  Timothy D. Tuttle,et al.  Understanding and Modeling the Behavior of a Harmonic Drive Gear Transmission , 1992 .

[20]  Wang Ke-wu.  Research and Development Outlined of Tooth Profile of Harmonic Gear , 2008 .