Accelerated Test And Life Prediction Analysis Of Harmonic Reducer

Harmonic reducer is one of the core components of industrial robots.Its health is directly related to the stability of industrial robots.Therefore,it has important significance and value for the fatigue and life analysis of reducers.This article combines theoretical research,simulation analysis and test research.The research on fatigue and life prediction of harmonic reducer is carried out in this article,which is less studied at present.First of all,this paper designs the measurement objectives,test schemes and test procedures for the accelerated test of the reducer.Based on the measurement objectives,the software system and the test platform are designed to monitor the data in real time.At the same time,the constant stress accelerated life test scheme is proposed,which is combined with actual engineering.The situation gives the specific test procedure of accelerated life test.Secondly,this paper analyzes the failure mode of the reducer,conducts mechanical simulation analysis on the failure of the flexspline and the flex bearing,and analyzes the theoretical fatigue point and fatigue life of the flexspline and the flex bearing.Under the working condition of 120 Nm,the life of the flexspline is 28 h,the flexible bearing is 27h;the accelerated life test is carried out,the cleavage and failure mode characteristics of the failed flexible wheel and flexible bearing are analyzed.In the flexible wheel failure mode,the transmission efficiency of the harmonic reducer is degraded by about 7%;In the failure mode of the flexible bearing,the transmission efficiency degradation of the harmonic reducer is about 15%.Finally,this article predicts the life of the reducer,establishes a remaining life prediction model,predicts the remaining life of the test reducer,the prediction error is less than 5%;and uses the acceleration model to predict the life under normal load as 7689 h,which exceeds the nominal value 7000 h.