Research Of Some Issues About Harmonic Reducer

The harmonic reducer has been a hot topic in lots of countries for a long time and there are some products in China.But there are huge gaps in the input speed,transmission accuracy and service life comparing with Japanese and other developed countries' products.The application of domestic product is not mature,especially in the area of robot.This paper studies the cup-shaped flexspline and the hollow-shaped flexspline by using the finite element method,and gets the influence of geometric parameters to the static stress distribution and the flexsplines' dynamic characteristics.First the paper introduces the transmission principle and the character of harmonic gear reducer,analyzes the law of motion of the point in the flexspline and the deformation character of the flexspline.,Then deduces the stress calculation formula and checks formula according to the character of flexspline.The contract model between the flexspline and wave generator was built on the base of the situation of flexspline by using the software ABAQUS,and the model of flexspline with load was built through the way of rigid wheel's contract.Comparing the picture of stress distribution and the stress in the section of flexspline,studied the rule of the stress in these flexsplines.Besides,the geometry parameter of the two kinds of flexspline was modified and the models with different geometry parameter can be gotten,from the finite element analysis result,the maximum equivalent stress line of the two kinds of flexspline with different geometry parameter can been drew,then studied how the geometry parameter affected the distribution of stress.The rounded corner was designed in the hollow-shaped flexspline and the result of finite element analysis proved that the equivalent stress in the hollow-shaped flexspline decreased obviously.Finally the modal analysis of the two kinds of flexspline was obtained by used the software ABAQUS,the result showed that the frequence of the hollow-shaped flexspline was larger than thefrequence of cup-shaped flexspline,and both of them could avoid the resonance phenomenon.