Design Research And Simulation Analysis On Composite Speed Reducer Of Harmonic And Planetary

At present,the application of transmission mechanism with small space,light weight and large transmission ratio is more and more widespread at home and abroad,such as the drive device of the space expansion mechanism,the transmission mechanism of the micro numerical control machine tool,the robot manipulator joint and so on.The advantages of harmonic gear drive and planetary gear transmission with small size and light weight make them have many research on the transmission mechanism of miniaturization and weight reduction.Combined with the characteristics of harmonic gear drive and planetary gear transmission,according to the specific design indexes of the speed reducer of space deployable mechanism proposed by a research institute,a composite speed reducer of Harmonic and Planetary is designed in this paper.The following work has been completed in this paper :Through the analysis of the actual working conditions,the transmission scheme design of the speed reducer is completed,including the choice of transmission type and the distribution of transmission ratio.Based on the specific design requirements of the speed reducer,the basic components of the harmonic reduction mechanism are selected and designed,and their bearing capacity and speed are checked and proved to meet the design requirements according to the actual working conditions.The design of planetary reduction mechanism is carried out,and the selected program is designed in detail,including selection of parameters,selection of materials and checking calculation of fatigue strength.The modeling and assembly of the various parts are completed by solidworks software,the quality of the speed reducer,return error,transmission efficiency are analyzed and calculated,and the lubricating system of the reduction mechanism is determined.With the aid of ansys software,the deformation and stress distribution of the gear engagement are analyzed and calculated according to the actual working conditions of the speed reducer.The results show that the backlash of the gear meshing is within the normal range.After thermal deformation,the displacement of the sun gear,planetary gear,planet carrier,bearings and its adjacent parts are analyzed and calculated.The results show that there are no interference between the sun gear and planetary gear,planetary gear and planet carrier,bearings and its adjacent parts.The prototype of the speed reducer is trial produced.According to the performance parameters of the speed reducer,the design of the test tooling is completed,and the output torque,return error,transmission efficiency and other main performance parameters of the speed reducer are tested.The results show that the speed reducer can basically meet the design requirements.