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Nonlinear dynamic modeling method for harmonic reducer transmission system

A non-linear dynamics, harmonic reducer technology, applied in instruments, special data processing applications, electrical digital data processing, etc., can solve the problems of system transmission accuracy decline, transmission stability deterioration, production does not meet work requirements and other problems

Pending Publication Date: 2021-11-30
BEIJING UNIV OF TECH
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  • Abstract
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Problems solved by technology

However, due to various nonlinear factors in the transmission process of harmonic gear transmission, such as nonlinear torsional stiffness, backlash, etc.
These factors will lead to the decrease of the transmission accuracy of the system and the deterioration of the transmission stability, and even lead to the situation that the production does not meet the work requirements.

Method used

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  • Nonlinear dynamic modeling method for harmonic reducer transmission system
  • Nonlinear dynamic modeling method for harmonic reducer transmission system
  • Nonlinear dynamic modeling method for harmonic reducer transmission system

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Embodiment Construction

[0023] like figure 2 Shown is a nonlinear dynamic model diagram of a harmonic reducer transmission system of the present invention

[0024] A harmonic gear transmission system nonlinear dynamics is characterized in that the system is composed of the following components: motor input shaft, wave generator, flex spline, rigid spline, and output load.

[0025] The modeling method includes the following steps:

[0026] Step 1) Determine the physical parameters and operating parameters of the harmonic gear transmission system as follows: the number of teeth Z1 and Z2 of the flex spline and the rigid spline; the transmission ratio N; the torsional stiffness and torsional damping coefficient K3, C3 of the flex spline; the diameter of the wave generator Axial stiffness and radial damping coefficients K1 and C1; meshing stiffness and meshing damping coefficients K2, C2 when the flexible spline meshes with the rigid spline; torsional stiffness and torsional damping K4, C4 of the motor...

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Abstract

The invention discloses a nonlinear dynamic modeling method for a harmonic reducer transmission system, and aims to overcome the defect that internal interaction of harmonic gear transmission cannot be reflected as a harmonic gear transmission system is subjected to dynamic modeling processing in a 'black box' mode in a dynamic model of a harmonic gear transmission system in the prior art. According to a harmonic gear transmission principle, a comprehensive dynamic model is established by considering the interaction of all parts in a harmonic gear. The method comprises the following steps: determining physical parameters and operation parameters of the harmonic gear transmission system; simplifying a transmission model of the system according to the harmonic gear transmission principle; calculating meshing rigidity; obtaining a nonlinear dynamic differential equation of the system by adopting the Newton second law, and performing the nonlinear dynamic solution on the system. According to the dynamic model established by applying the method, the internal effect of each part is comprehensively considered, and the precision of the model is ensured.

Description

technical field [0001] The invention belongs to the technical field of dynamics simulation of a harmonic gear transmission system, in particular to a nonlinear dynamics modeling method of a harmonic gear transmission system Background technique [0002] Due to the advantages of large transmission ratio, small hysteresis, small size and high transmission efficiency, harmonic gear transmission has been gradually applied to various manufacturing equipment and measuring equipment, such as industrial robots, machine tools, optical scanners and laser mirror positioning mechanisms, etc. . Since the harmonic drive is the key transmission component of the above-mentioned electromechanical system, its performance has a great influence on the manufacturing or measurement accuracy of the system. However, there are various nonlinear factors in the transmission process of harmonic gear transmission, such as nonlinear torsional stiffness, backlash and so on. These factors will lead to th...

Claims

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Application Information

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IPC IPC(8): G06F30/17G06F30/20G06F119/14
CPCG06F30/17G06F30/20G06F2119/14
Inventor 杨聪彬张雪洋张彩霞赵永胜刘志峰初红艳
Owner BEIJING UNIV OF TECH
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