离散齿谐波传动结构及齿形分析

针对现有谐波传动的传动刚度较差、传动比下限高以及轴向尺寸大等问题,离散齿谐波传动采用离散齿轮代替柔轮,是对现有谐波传动的改进。对离散齿谐波传动装置的传动原理以及结构进行了介绍与分析。基于传动原理与等速共轭原理推导了刚轮齿廓曲线方程,并给出了齿形形状。建立了齿形曲线参数与传动性能的关系,在齿形曲线参数的影响下,考虑了传动重合度与刚轮齿形压力角的变化趋势,以提高传动稳定性及传动效率。研究结果表明,在满足正常传动的前提下,适当调节齿形参数可改善传动性能,同时也为今后进行齿形优化设计提供了依据。

Structure and tooth profile analysis of discrete teeth harmonic drive

In order to solve the problems of the poor rigidity, high lower limit of the transmission ratio and large axial size for the existing harmonic drive, the discrete teeth gear instead of the flexspline was used for the discrete teeth harmonic drive, which is the improvement for the existing harmonic drive. The transmission principle and the device structure of the discrete teeth harmonic drive were introduced and ana-lyzed. The tooth profile curve equation of the rigid spline was derived based on the transmission principle and constant speed conjugate principle, and the tooth shape was given. The relationship between the parameter of the tooth profile curve and the transmission properties was established, and the variation tendencies of the transmission coincidence degree and the pressure angle of rigid spline tooth profile were gotten under the influence of the parameter of the tooth profile curve, which is used to improve the transmission stability and the transmission effi- ciency. The results show that, under the premise of normal transmission, proper adjustment of tooth shape parameters can improve the transmission function, and it can provide the basis for the tooth profile optimization design in the future.