摘要
谐波齿轮减速器是电动伺服系统的关键组成部分,其传动误差的分析与检测对于减速器的研制、生产、检验、装配起着重要的作用。根据薄壳弹性变形理论,分析了谐波传动工作原理,着重对谐波传动的回差、刚度误差和传动误差进行了研究,给出了在回差和刚度情况下的谐波齿轮减速器传动误差公式,为谐波齿轮减速器传动误差的检测提供理论依据。设计了一种谐波齿轮减速器传动误差测试系统,能够对谐波齿轮减速器的静、动态传动误差进行测试,传动误差精度优于±6'。
Harmonic gear reducer is the key component of the electrical servo system, its transmission error analysis and testing play a crucial role in the development, production, testing, assemble of gear reducer. According to the thin shell elastics deformation theory, the harmonic transmission principle was analyzed, and the harmonic transmission error sources was introduced. The calcula- tion of transmission error and frequency spectrum analysis were discussed ,the transmission error formula of harmonic gear reducer considering the case of gear backlash and stiffness was presented. These aspects provide a theoretical basis for the detection of har- monic gear reducer transmission accuracy. A harmonic gear reducer transmission error testing system was designed. This system can achieve the detection for the static and dynamic transmission error of harmonic gear reducer, the accuracy of measuring angular is better than±6＇.
出处
《仪表技术与传感器》
CSCD
北大核心
2013年第5期51-54,共4页
Instrument Technique and Sensor
基金
国家高技术研究发展计划(863计划)资助项目(2011AA05A111)
中央高校基本科研业务费专项资金(2012JBM097)
北京交通大学人才基金项目(2012RC01)
关键词
谐波减速器
谐波传动
回差
刚度误差
传动误差
精度
harmonic reducer
harmonic transmission
frequency spectrum analysis
transmission error
accuracy
