| A high-power electric servo device with harmonics reducer transmission mechanism (we call it reducer following), in the process of research when certain load with larger rotation inertia, the phenomenon of divergence (That is big noise or output shaft shaking) emerged during dynamic response test. In the background of it, the paper will use commercial software to make reducer finite-element modeling. And then analysis the rigidity and the modality of the reducer structure component , at the same time analysis the dynamic response and working response .Finally, make sure because of the gaps of reducer gears lead to shaking problem through verification .It will provide reference for reducer structure design and manufacturing engineering.Firstly, it will get the maximum deformation for output shaft elastic deformation according to the finite-element model of harmonics reducer, calculating the stress, strain and the displacement between the structure components in the torque effect.Secondly, it will judge the weakness of the reducer structure and then avoid the inherent frequency to resonance according to the analysis to the modeling of the harmonics reducer . Analysis the modeling result ,the minimum frequency is 476Hz,the mode which lower than 2000Hz is X and Y torsion mode mainly .At the last, it mainly analysis dynamic response of the reducer and the key response in the working state which satisfy the angle output in the analysis of the reducer mechanics. It indicates that in the zero clearance state ,the dynamic response of key points will get less vibration ,in the gap state ,the key point vibrates more,and the vibration time become longer ,it prove that there will be bad vibration in reducer . All of this prove the gap of the reduce gears is too big.The paper gets the reason why the reducer vibrates according to the analysis to the finite-element of the harmonics reducer .The research in the paper also has reference effect to other reducer design and anlysis . |
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