Development Of Performance Testing System Of Harmonic Drive Reducer Under Thermal Vacuum Environment

Harmonic drive reducer with the advantages of small size,wide range of transmission ratio,high drive accuracy,is widely used in robotics,aerospace and other fields.Performance testing is an important step in the manufacture of harmonic drive reducer.It is very important for the improvement of manufacturing technology and the optimization of structural design to measure the performance data of harmonic drive reducer accurately and evaluate its performance level.There are some obstacles in existing performance testing equipment of harmonic drive reducer,such as sole testing function,low testing accuracy.What is more,performance testing equipment under thermal vacuum environment is relatively rare,and the depth of the study is not enough.This paper develops a set of performance testing system of harmonic drive reducer under thermal vacuum environment,and based on the testing system,makes some study on transmission performance of harmonic drive reducer under thermal vacuum environment.Firstly,the research status of harmonic drive reducer performance testing equipment is analyzed.On the basis of predecessors' research,and combining with the function requirement and technical index of this subject,the whole scheme of the testing system is put forward.Secondly,according to the scheme design and the technical index,the environment simulation equipment,the driving device,the loading device,the sensor and the control and data-acquisition device are selected.Then,the paper analyzes the working principle of the hardware,and establishes the hardware connection relation,and finish the design of the electrical control system.Thirdly,according to the principles of reliability and user-friendliness,the software interface and the bottom frame are designed.The software is divided into communication function module,general function module and testing function module,and the algorithm research and code compilation of each module are finished.The software design of the testing system is completed.Finally,the source of the measurement error of the testing system and the method of reducing the error are analyzed,and installation and debugging of the testing system are completed.Related experiments are designed to verify the drive control performance,load control performance and testing functions of the testing system.The mechanical efficiency and drive accuracy are selected as the research object,and the transmission performance of the harmonic reducer under thermal vacuum environment is analyzed.