谐波减速器疲劳失效特征分析

谐波减速器是工业机器人中重要的零部件之一，其性能直接关系到工业机器人的运转状态。谐波减速器的疲劳失效分为柔轮失效和柔性轴承失效两类。利用谐波减速器综合测试平台，实时监测和记录谐波减速器传动效率、温度和振动信号，并提取出信号特征，对两种失效模式的特征进行分析。验证了传动效率、温度和振动信号表征谐波减速器失效的一致性，在柔轮失效模式下，谐波减速器传动效率退化量约为7%；在柔性轴承失效模式下，谐波减速器传动效率退化量约为15%。失效模式特征的分析对于谐波减速器的失效和疲劳研究有着重要的意义。

Analysis of Fatigue Failure Characteristics of Harmonic Reducer

Harmonic reducer is one of the important parts in industrial robots. Its performance is directly related to the working states of industrial robots. The fatigue failure of the harmonic reducer is divided into two types: flexspline failure and flexible bearing failure. A comprehensive test platform for harmonic reducer was used to monitor and record signals of the transmission efficiency, temperature and vibration of the harmonic reducer in real time, then two kinds of failure modes were detected by recognizing the differences among the signal characteristics. The relationship among the signals of transmission efficiency, temperature and vibration caused by the failure of the harmonic reducer was evaluated. In the case of the flexspline failure, the transmission efficiency degradation of the harmonic gear drive is about 7%; in the case of the flexible bearing failure, the transmission efficiency degradation of the harmonic gear drive is about 15%. The analysis of the failure mode characteristics for the harmonic gear drive is of great significance for the study of failure and fatigue.