双圆弧谐波齿轮传动齿廓设计与参数分析

中文摘要: 谐波传动轮齿齿廓对装置传动性能具有显著影响，为提高谐波传动装置性能，采用公切线式双圆弧齿廓作为柔轮齿廓，并建立以弧长为参数的双圆弧齿廓函数。基于改进运动学谐波啮合理论研究双圆弧齿廓谐波传动的共轭区域、共轭齿廓，并分析啮合参数和结构参数对共轭区域及共轭齿廓的影响规律。研究结果表明：双圆弧齿廓谐波传动在啮合过程中有两个共轭区域，且存在两次啮合及两点啮合现象；柔轮凸齿廓与凹齿廓圆弧半径、公切线倾角与长度、径向变形量系数、壁厚等对谐波传动的共轭角度与区间、共轭齿廓弧长、共轭齿廓半径与位置等影响显著，且研究实例中适当减小上述啮合参数或结构参数有利于提高谐波传动性能。
Abstract: The tooth profile has an evidently influence on the transmission performance of harmonic drive (HD). For the purpose of improving the transmission performance of HD, double-circular-arc common tangent tooth profile (DCTP) as the tooth profile of flexspline (FS) was been used. The parametric equations of DCTP were established by using the arc length, and the conjugate existent domain (CED) and the conjugate tooth profile (CTP) were deduced based on Modified Kinematic Method, moreover, the CED and CTP variable law of HD that utilized the DCTP were studied. The results demonstrated that two CEDs are founded in the mesh process, what’s more, the two conjugate phenomenon and the twice conjugate phenomenon were deduced. The arc radius of the convex tooth profile, the arc radius of the concave tooth profile, the conjugate angle, conjugate domain, conjugate position, conjugate arc length and radius were obviously influenced by the common tangent tooth profile length, the obliquity angle between the common tangent and the symmetric line of the teeth, the coefficient of the radial displacement, and the wall thickness of FS. The transmission quality of HD device, in the research example, was improved by appropriately decreasing the abovementioned structure parameters and meshing parameters.