Defect elimination in torsional harmonic reducer based on harmonic resonance

Abstract

This paper will introduce the torsional vibration test method and signal analysis for a harmonic reducer in industrial robot. The harmonic reducer is generally applied to the fifth and sixth axes of the industrial robots, and the torsional vibration will affect the mechanical performance. To understand the torsional vibration condition of the harmonic reducer, the test device is set up through loading the corresponding moment of inertia. In the study, the curve of torsional characteristic is obtained, and it can be used to assess the mechanical performance; Using zoom spectrum technology on harmonic resonance, the characteristic frequency is identified in detail. The manufacturing defect of the harmonic reducer is diagnosed based on characteristic frequencies of its transmission, and defect elimination is successfully realized by adjustment of components in the harmonic driver; Some nonlinear vibration characteristics caused by stiffness with time periodic dependent, including bi-spectrum and harmonic resonance, etc., are investigated. The experimental results show that the test and analysis of torsional vibration have positive significance for the online quality assembly assurance of harmonic reducer.