Research On The Method And Device For Detecting The Performance Of Harmonic Reducer

Harmonic reducer is a key component of industrial robots,its performance directly affects the accuracy and stability of the robot.Domestic research on harmonic reducers has been focusing more on its own performance rather than detection methods and devices.With the increasing production and application of harmonic reducers,it is extremely urgent to thoroughly study the test methods and intelligent monitoring equipment for the key performance parameters of harmonic reducers.In this study,the requirements and methods for testing the performance parameters of the national standard harmonic drive gear reducer for robots were analyzed firstly.Meanwhile.compared with the test methods of the performance indicators of similar products in Japan,the main measurement parameters and test methods of the harmonic reducer performance test system were determined.According to the loading characteristics of the test parameters during the test,the combination of serv o motor and reducer was determined as the loading mechanism.Moreover,the torque loading algorithm of permanent magnet synchronous motor based on active disturbance rejection control technique was studied with the standard cup scries small and medium harmonic reducer as the object.Besides,the hardware construction method of the harmonic reducer performance test system was studied.The host machine of PXI and PCI virtual instrument was determined by comparing the common bus structure of virtual instrument,selects sensor and designs signal conditioning circuit.The LABVICW 2017 was selected as the instrument software development platform for the functions that the instrument software needs to implement.The process-oriented and component-oriented programming methods were applied to realize the design of the main program,device management module.test module,data storage module and test report generation module.Finally,the experimental platform of the harmonic reducer performance test in the laboratory was built to verify some functions of the instrument.The comprehensive tests of harmonic reducer were conducted by advanced test equipment to prov ide reference for further improvement of product design,production and assembly.It is significant to promote the rapid development of harmonic reducers.