Stress Analysis of Cup Type Strain Wave Gearing.

Kikuchi, Masanori; Ishibashi, Koji; Kiyosawa, Yoshihide; Zhang, Xinyue

doi:10.1299/kikaic.64.1604

Cited by 5 publications

(8 citation statements)

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“…This assembled cam can easily be inserted inside the ball bearing (5) with thin and flexible inner and outer races specifically made for such HD units. Finally, the cam unit can easily be put inside the cup-shaped FG cup (6), which is simply pressed diametrically by hand for easy insertion. It may be attributed to the fact that the natural 12 and 13).…”

Section: Assembly Of the New Cammentioning

confidence: 99%

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Design and development of strain wave generating cam for a new concept ‘harmonic drive’

Maiti

Biswas

Nema

et al. 2012

Proceedings of the Institution of Mechanical Engineers, Part C:

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A split cam design is proposed to solve the problem of assembly of the single piece cam in the flexible raced bearing of an earlier proposed novel harmonic drive system, which shows better torque characteristics and capacities in comparison to the conventional one of same size with oval-shaped strain wave generating cam. The cam profile has circular arcs at two working zones at 180° phases. The proposed profile shape is identified as the cause of trouble in assembly if the cam is made single piece. The split cam is made of two identical pieces having circular arc edges. These pieces constitute the cam in assembly after putting it inside the inner race of the flex bearing and adjusted by an adjuster. The design, kinematics, and the assembly method of the proposed split cam are presented in this article. The split cam arrangement not only solves the assembly problem but also gives a scope of fine adjustment of center distance (eccentricity). Such an adjustment is not possible in conventional oval wave generating cam. Stresses in flex gear cups assembled with both type cams at load and no-load conditions are estimated using finite element method. Some results are verified experimentally. Although the flex gear cup with the proposed split cam experiences lower stresses at load transmitting active gear contact zones, it shows higher stresses at some non-active zones (where teeth are free of load). It is apparent from results that stresses at those non-active zones do not increase substantially with the increase in torque, as they are away from active zones.

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Section: Assembly Of the New Cammentioning

confidence: 99%

“…Consequently, attempts are made to optimize deflections of teeth, rim, bearing, length of the flex spline (FS) cup, etc. [6][7][8][9][10] Some researchers have proposed electromagnetic actuation techniques 11,12 to replace the solid oval cam. They have concentrated on the cam performance rather than improving teeth profiles.…”

Section: Introductionmentioning

confidence: 99%

Design and development of strain wave generating cam for a new concept ‘harmonic drive’

Maiti

Biswas

Nema

et al. 2012

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Kikuchi et al. 12 attempted to evaluate the stress distribution on FG cup numerically and showed a good agreement with the experimental results qualitatively and quantitatively. Xiao et al., 13 Dong et al., 14 and many others have attempted HD design and performance optimization considering details of tooth contacts 15,16 of newer teeth.…”

Section: Introductionmentioning

confidence: 78%

Evidence of secondary tooth contact in harmonic drive, with involute toothed gear pair, through experimental and finite element analyses of stresses in flex-gear cup

Sahoo

Maiti

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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Stresses in flex spline/gear cup in harmonic drives with involute toothed gear pair and conventional strain wave generating cam are analyzed using finite element method in ANSYS® environment and experiments. The most innovative part of this investigation is establishing the evidence of secondary contacts and probable load shared by those contacts experimentally over the finite element analysis. Aiming at the performance improvement of gearing in harmonic drives, with involute toothed gear pair, the investigations are carried out through the following analyses. (a) Initial stresses in flex gear cup due to cam insertion only. (b) Stresses in flex gear cup at no load in fully assembled harmonic drive components i.e. flex gear, ring gear, and strain wave generating cam. (c) Stresses in flex gear cup at full load passing through the two pitch points, i.e. the intersection points of ring gear pitch circle, flex gear pitch curve, and major axis on both sides. Finally, (d) stresses in flex gear cup at full load distributed over all possible primary and secondary contacts, in proportion to their contact intensities. Recorded strains of the flex-gear cup while the cam being rotated showed very good agreement with the results obtained by finite element analysis with proper modeling of loading.

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“…This behaviour can be traced back to the deformation of the HD components when subjected to significant torques. It has been demonstrated through experiments and the finite-element model (FEM) that the contact areas between the teeth of the FS and the CS increase with the applied torque [6,7]. This increase in the contact areas is due to additional teeth being engaged and to the expansion of the contact surface of the teeth that have already been meshed.…”

Section: Fig 1 Typical Components Of An Hdmentioning

confidence: 99%

Understanding and modelling the torsional stiffness of harmonic drives through finite-element method

Rhéaume

Champliaud

Liu

2009

Proceedings of the Institution of Mechanical Engineers, Part C:

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Torsional stiffness or rigidity is a crucial characteristic in the design of transmission devices, including harmonic drives (HDs). Among the various design aspects constituting a reduction mechanism in robotic systems, torsional stiffness is an important factor for positioning accuracy and control issues. One of the major advantages of HDs is their capacity to present a high reduction ratio while maintaining a small hardware size. However, manufacturing these drives remains a complex and costly process due to the high precision of its machined components; as a result, the use of such drives is still limited only to high-end mechanical products and technologies. Given these costs, numerical analysis becomes an effective alternative for obtaining valuable data through simulations, without the need for prototypes. This article presents a finite-element model to reproduce the behaviour of the torsional stiffness of an HD. The numerical model allows an evaluation of the effects of various geometrical parameters on the torsional stiffness of the HD. The numerical model of the HD can be used for optimization purposes, i.e. to develop an HD with a high torque capacity combined with a high-rated lifespan.

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Stress Analysis of Cup Type Strain Wave Gearing.

Cited by 5 publications

References 0 publications

Design and development of strain wave generating cam for a new concept ‘harmonic drive’

Design and development of strain wave generating cam for a new concept ‘harmonic drive’

Evidence of secondary tooth contact in harmonic drive, with involute toothed gear pair, through experimental and finite element analyses of stresses in flex-gear cup

Understanding and modelling the torsional stiffness of harmonic drives through finite-element method

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