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Fatigue failure of harmonic reducer

update:2022-07-27
abstract:According to the hysteresis and torsional stiffness of the harmonic reducer, a test platform that ca...

According to the hysteresis and torsional stiffness of the harmonic reducer, a test platform that can be continuously loaded and unloaded is designed, the torque and the output shaft angle curve of the harmonic reducer are drawn, and the torsional stiffness and failure conditions are analyzed.

The hysteresis and torsional stiffness of the harmonic reducer are mainly related to the clearance and meshing degree of the harmonic reducer. The greater the torque it receives, the greater the torsional stiffness, which has important guiding significance for the performance of the harmonic reducer.


The harmonic reducer has high transmission efficiency, stable operation, high precision and strong load capacity, and is widely used in the fields of robotics, aerospace, energy and precision machine tools [1]. The harmonic reducer mainly relies on the elastic deformation of the flex wheel to realize power transmission. Its main failure modes include the fatigue fracture of the flex wheel, the damage of the flexible bearing of the wave generator, and the wear of the inner wall or tooth surface of the flex wheel [2], which is manifested in the transmission efficiency. , torsional stiffness and hysteresis and other main transmission performance decline, when the main transmission performance drops below a certain threshold, the harmonic reducer is considered to be invalid.

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