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Torsional stiffness and fatigue failure of harmonic reducer

update:12-07-2021
abstract:

According to the hysteresis and torsional stiffness of […]

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.
Harmonic reducer has high transmission efficiency, stable operation, high accuracy, and strong load capacity. It is widely used in robotics, aerospace, energy, and precision machine tools [1]. The harmonic reducer mainly relies on the elastic deformation of the flexible wheel to achieve power transmission. Its main failure modes are the fatigue fracture of the flexible wheel, the damage of the flexible bearing of the wave generator, the wear of the inner wall or the tooth surface of the flexible wheel, etc. [2], which is expressed by 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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