Research on Meshing Characteristics of Strain Wave Gearing with Three Different Types of Tooth Profiles

Harmonic drive (HD) is one of the core components of the robot joint. Studies show that tooth shape design and meshing characteristics of the HD directly affect the motion control accuracy and vibration characteristics of the robot. In the present study, common coordinate systems are established for...

Full description

Saved in:
Bibliographic Details
Published inInternational journal of precision engineering and manufacturing Vol. 22; no. 10; pp. 1761 - 1775
Main Authors Yang, Congbin, Ma, Honglie, Zhang, Tao, Liu, Zhifeng, Zhao, Yongsheng, Hu, Qiushi
Format Journal Article
LanguageEnglish
Published Seoul Korean Society for Precision Engineering 01.10.2021
Springer Nature B.V
Subjects
Conjugates
Coordinates
Cycloids
Design parameters
Engineering
Industrial and Production Engineering
Involute teeth
Materials Science
Meshing
Motion control
Regular Paper
Robots
Harmonic drive
Conjugate tooth profile
Conjugate existent domain
Online AccessGet full text

Cover

More Information
Summary:Harmonic drive (HD) is one of the core components of the robot joint. Studies show that tooth shape design and meshing characteristics of the HD directly affect the motion control accuracy and vibration characteristics of the robot. In the present study, common coordinate systems are established for three tooth profiles to analyze the differences between them. To this end, expressions for the double circular arc common-tangent tooth profile (DCTP), cycloid common tangent tooth profile (CCTP), and the involute tooth profile (ITP) are established in the same coordinate system. By applying the envelope conjugate theory, the conjugate existent domain (CED) and conjugate tooth profile (CTP) of the HD transmission are solved independently for each profile. Furthermore, the influences of tooth profile parameters on both the CTP and CED are analyzed. Obtained results show that both the DCTP and CCTP have more robust envelope processes when compared with the ITP. Moreover, it is found that both profiles can achieve the second conjugate and two-point conjugate engagement through applying variations in the tooth shape design parameters. It is concluded that meshing performances of the DCTP and CCTP are better than that of the ITP, providing guidelines for the future development of the harmonic reducer tooth shape design.
ISSN:2234-7593
2005-4602
DOI:10.1007/s12541-021-00575-1