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

Rhéaume, François-Étienne; Champliaud, Henri; Liu, Zhaoheng

doi:10.1243/09544062jmes949

Cited by 25 publications

(18 citation statements)

References 15 publications

(20 reference statements)

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“…The data curve obtained by fitting equation (6) is an ideal curve. Since the slope of the curve is the torsional stiffness, the above-mentioned fitting curve is derived to obtain the torsional stiffness curve of the harmonic gear reducer.…”

Section: Torsional Stiffness Of Harmonic Drive Gearingmentioning

confidence: 99%

“…For example, the time-varying stiffness of harmonic gear was experimentally verified in references. [1][2][3][4] Through finite element analysis, Rheaume et al 5,6 studied the time-dependent torsional stiffness of a harmonic drive and proved there are time-varying characteristics in the transmission process of harmonic gear reducer. Some scholars further researched the characteristics of harmonic gear reducer on an experimental basis.…”

Section: Introductionmentioning

confidence: 99%

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Simulation of meshing characteristics of harmonic reducer and experimental verification

Luo

Cui

2018

Advances in Mechanical Engineering

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This article studies the causes of the time-varying stiffness of harmonic drive gear and the number of meshing teeth and the meshing length under different torques. Multi-pair tooth meshing characterizes the operating process of the harmonic gear reducer. However, the change of the number of meshing pairs is still not clear. Therefore, the mechanism of the time-varying stiffness of harmonic drive gear was studied using both the theoretical approach and simulation method, and the mathematical model of the time-varying stiffness of harmonic gear reducer was established. Moreover, a method for calculating the torque under different stiffness values was proposed. The relationship between varying torque and time-varying stiffness was established by the number of meshing teeth pairs. The established time-varying stiffness model and the proposed method are feasible, and the effectiveness was proved through experimental research. This study provides theoretical support for the analysis of load distribution in the flexible wheel by the stress-strain loads and related problems.

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Section: Torsional Stiffness Of Harmonic Drive Gearingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Simulation of meshing characteristics of harmonic reducer and experimental verification

Luo

Cui

2018

Advances in Mechanical Engineering

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“…Henri Champliaud et al believe that torsional stiffness is a key factor in the positioning accuracy and control of harmonic drive. They established the finite element model to find the stiffness of the wave generator has a significant impact on torsional stiffness in the harmonic driver under different torque loads, and the stiffness of the flexible wheel has different effects on the torsional stiffness [2]. M. Masoumi, H. Alimohammadi et al used the shell theory to derive the vibration equations of the flexible wheel and the rigid wheel in the harmonic drive system, calculated the vibration response of the system in the moving condition, and studied the influence of the tooth profile and assembly eccentricity of the flexible wheel on harmonic drive system [3].…”

Section: Introductionmentioning

confidence: 99%

Defect elimination in torsional harmonic reducer based on harmonic resonance

Huang¹,

Zong²,

Gu³

2019

Vib. proced.

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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.

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“…Researches on the stress-strain analysis of the gear assembly on SADA have been developed for years. Rheaume [4,5] developed a new three-dimensional FEM of an actual gear to reproduce the behavior. Folega [6] studied an FEM model of the gear with composite material to calculate the result.…”

Section: Introductionmentioning

confidence: 99%

Bifurcations and chaos in a gear assembly with clearances for solar array drive assembly

Wei¹,

Li²,

Li³

2017

J. vibroeng.

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Solar array drive assembly is an important part of the spacecraft. It is used to rotate the solar panels. The gear assembly in solar array drive assembly plays a key role in transferring power safely. Nonlinear behavior of gear assembly, like the chaotic motion, can highly affect the stability and operating life of solar array drive assembly. Clearances in gear assembly which were neglected for simplification in past years have increased the risk of failure and become a problem in accurate control. To investigate the clearances effect on nonlinear behavior, this paper establishes a new dynamic model of the gear assembly with bilateral clearances. The main difference comparing to general spur gears is its unique hysteresis stiffness may also influence the clearance effects. Transformation of the hysteresis loop is observed from theoretical equations using different parameters. Bifurcations and chaotic analysis of the system are carried out by numerical simulations in this study. The results show that the variation of clearances may induce the chaotic behavior into gear transmission even when the primary response is stable. When the system step into the chaotic region, it has a high risk of unstable vibration and fuzzy output. The influence of excitation frequency on the chaotic motion of the system is also provided. Chaos thresholds are calculated to avoid nonlinear behavior of the system in design and control. This study makes it possible to predict the unstable clearance interval in this system and avoid the system stepping into chaotic motion. Analyzing and predicting the chaotic behaviors can contribute to the further studies on design and control of the solar array drive assembly.

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

Cited by 25 publications

References 15 publications

Simulation of meshing characteristics of harmonic reducer and experimental verification

Simulation of meshing characteristics of harmonic reducer and experimental verification

Defect elimination in torsional harmonic reducer based on harmonic resonance

Bifurcations and chaos in a gear assembly with clearances for solar array drive assembly

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