Parameter Design And Optimization Of Hollow Harmonic Gear Reducer For Robots

With the development of intelligent equipment manufacturing industry,China has become the world’s largest industrial robot market for four years in a row.The precision reducer,as the core part of the robot,has a huge demand for the market.The hollow harmonic gear reducer has the advantages of compact structure,high transmission accuracy and easy access to thread for the robot,so it has been applied widely in the field of robotics.However,the research of its performance parameters is relatively scarce at present.Therefore,this paper took the hollow hat type harmonic gear reducer as the research object,and studied this type harmonic drive’s design and optimization method of structural and meshing parameters.First,according to the design rules and empirical formulas of harmonic drive,and referring to the existing product structure of the hat type harmonic drive,the structural parameters of the hollow hat type harmonic drive were preliminarily designed,and the range of the main structural parameters of flexspline was determined.Secondly,taking involute as the reference tooth profile of flexiblespline,the envelope method was used to solve the conjugate tooth profiles of the circular spline,the conjugate profile of the circular spline was fitted and approximated by the involute with the simplified optimization algorithm.MATLAB was used to simulate the meshing motion of the the circular spline and flexspline,and the meshing performance of the the circular spline and flexspline was analyzed.Then,the causes of the tooth deflection of flexspline and the influence of this phenomenon on the meshing of the circular spline and flexspline were analyzed.Considering the influence of tooth deflection of the flexspline,the profiles of the different sections of the circular spline were designed,and the 3D profile of the circular spline was obtained.Then.ABAQUS was used to analyze the stress distribution in the two states of no-load and load,and the position of the maximum stress was found.The influence degree of the main structural parameters on the maximum stress of the hat type flexspline was studied by the orthogonal test.Finally,the structural parameters of the hat flexspline were optimized by ISIGHT and ABAQUS,and the structural parameters that make the maximum stress minimize under the two states of no-load and load were obtained.Research of this paper has laid a good theoretical foundation for the future development of hollow harmonic drive.