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What are the types of harmonic reducer gear drives?

update:22-11-2021
abstract:

The deforming force of the electromagnetic coupling typ […]

The deforming force of the electromagnetic coupling type flexspline is generated by the electromagnetic coupling between the wave generator and the even device on the coils on the circumference of the flexspline. The mechanical connection type uses mechanical force to make the flexible wheel move.
  The external wave generator has a large structure and a large moment of inertia, so it is not suitable for high-speed applications. When a fixed deformation wave generator is used, the internal type is generally used.
   End face harmonic gear transmission is a kind of spatial gearing type transmission. The axial size of this type of transmission is small, and the torsional rigidity of the flexspline is relatively large. Radial harmonic gear transmission belongs to the plane toothing type and is currently the most widely used.

The gear transmission wave number of the harmonic reducer refers to the number of cycles that a certain point on the flexspline deforms when the wave generator rotates one circle. The deformation of the flexspline of the single-wave gear transmission is asymmetrical, so the design requirements for the tooth profile and the cam profile of the wave generator are too high. The number of teeth of the flexible wheel and the rigid wheel of the double-wave gear transmission are different by 2, the structure is relatively simple, and the most commonly used. The three-wave alignment is good, the eccentricity error is small, but the processing is complicated, and the number of repeated bending of the flexspline increases, so the fatigue life of the flexspline is relatively low. Generally rarely used.
With the development of the times, the continuous upgrading of industrial intelligent robots, medical equipment, radio communications, CNC machine tools and other equipment, the requirements continue to increase, so the transmission requirements of the harmonic reducer will become higher and higher, and the research on harmonic gears Classification helps to select and use a more suitable type of harmonic reducer.

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