Impact resistance design method for harmonic gear transmission mechanism

By constructing an impact mitigation index (IRI) model and combining Hertz contact theory and Hunt-Crossley model, the problem of accuracy in calculating impact force during the meshing process of harmonic reducers was solved, the impact resistance performance of harmonic gear transmission mechanisms was optimized, and the impact resistance of humanoid robot joints was improved.

CN121787015APending Publication Date: 2026-04-03BEIJING UNIV OF TECH
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Patent Information

Application Number
CN202610005732.2
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-01-05
Publication Date
2026-04-03

AI Technical Summary

Technical Problem

Existing technologies struggle to accurately and quickly calculate the magnitude and duration of impact force during the meshing process of a humanoid robot's joint harmonic reducer, resulting in insufficient impact resistance and an inability to meet the analytical needs under complex working conditions.

Method used

Based on Hertz contact theory and Hunt-Crossley hysteresis model with damping coefficient, combined with improved kinematics method and transient dynamics simulation, the impact release index (IRI) is constructed to characterize the impact resistance of harmonic gear transmission mechanism. The relationship between impact force and impact time is verified by theoretical calculation and finite element simulation.

Benefits of technology

It enables precise and rapid analysis of harmonic gear transmission mechanisms, improves shock resistance, optimizes the flexible gear tooth profile design, and enhances the service life and operational reliability of robot joints.

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Abstract

The invention relates to the technical field of precision transmission, and discloses an impact resistance design method for a harmonic gear transmission mechanism, which is used for constructing an impact performance evaluation model by analyzing an impact force change rule in an engaging impact process. The method comprises the following steps: firstly, establishing a harmonic gear transmission impact model based on an improved kinematics method, calculating a contact force when a flexible gear is engaged with a rigid gear based on a Hertz contact theory and an elastic thin plate theory, solving a hysteresis damping coefficient in a collision process by combining a Hunt-Crossley hysteresis model with a damping coefficient and an energy conservation law, and calculating a harmonic gear transmission impact model according to the hysteresis damping coefficient. According to the method, a harmonic gear transmission collision process impact force model is established, an engaging-in impact force and impact duration conforming to a Hunt-Crossley hysteresis loop are obtained, an impact slow release index (IRI) is constructed, and the impact resistance of a harmonic gear transmission mechanism is evaluated. Through a transient dynamics analysis method, the accuracy of a theoretical impact model calculation method is verified. The method can effectively predict the shock resistance of the harmonic reducer, and provides a theoretical basis for the flexible gear profile design of the harmonic reducer.
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