Nonlinear dynamic modeling method for harmonic reducer transmission system

A non-linear dynamics, harmonic reducer technology, applied in instruments, special data processing applications, electrical digital data processing, etc., can solve the problems of system transmission accuracy decline, transmission stability deterioration, production does not meet work requirements and other problems

Pending Publication Date: 2021-11-30
BEIJING UNIV OF TECH
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to various nonlinear factors in the transmission process of harmonic gear transmission, such as nonlinear torsional stiffness, backlash, etc.
These factors will lead to the dec

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Nonlinear dynamic modeling method for harmonic reducer transmission system
  • Nonlinear dynamic modeling method for harmonic reducer transmission system
  • Nonlinear dynamic modeling method for harmonic reducer transmission system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0023] like figure 2 Shown is a nonlinear dynamic model diagram of a harmonic reducer transmission system of the present invention

[0024] A harmonic gear transmission system nonlinear dynamics is characterized in that the system is composed of the following components: motor input shaft, wave generator, flex spline, rigid spline, and output load.

[0025] The modeling method includes the following steps:

[0026] Step 1) Determine the physical parameters and operating parameters of the harmonic gear transmission system as follows: the number of teeth Z1 and Z2 of the flex spline and the rigid spline; the transmission ratio N; the torsional stiffness and torsional damping coefficient K3, C3 of the flex spline; the diameter of the wave generator Axial stiffness and radial damping coefficients K1 and C1; meshing stiffness and meshing damping coefficients K2, C2 when the flexible spline meshes with the rigid spline; torsional stiffness and torsional damping K4, C4 of the motor...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a nonlinear dynamic modeling method for a harmonic reducer transmission system, and aims to overcome the defect that internal interaction of harmonic gear transmission cannot be reflected as a harmonic gear transmission system is subjected to dynamic modeling processing in a 'black box' mode in a dynamic model of a harmonic gear transmission system in the prior art. According to a harmonic gear transmission principle, a comprehensive dynamic model is established by considering the interaction of all parts in a harmonic gear. The method comprises the following steps: determining physical parameters and operation parameters of the harmonic gear transmission system; simplifying a transmission model of the system according to the harmonic gear transmission principle; calculating meshing rigidity; obtaining a nonlinear dynamic differential equation of the system by adopting the Newton second law, and performing the nonlinear dynamic solution on the system. According to the dynamic model established by applying the method, the internal effect of each part is comprehensively considered, and the precision of the model is ensured.

Description

technical field [0001] The invention belongs to the technical field of dynamics simulation of a harmonic gear transmission system, in particular to a nonlinear dynamics modeling method of a harmonic gear transmission system Background technique [0002] Due to the advantages of large transmission ratio, small hysteresis, small size and high transmission efficiency, harmonic gear transmission has been gradually applied to various manufacturing equipment and measuring equipment, such as industrial robots, machine tools, optical scanners and laser mirror positioning mechanisms, etc. . Since the harmonic drive is the key transmission component of the above-mentioned electromechanical system, its performance has a great influence on the manufacturing or measurement accuracy of the system. However, there are various nonlinear factors in the transmission process of harmonic gear transmission, such as nonlinear torsional stiffness, backlash and so on. These factors will lead to th...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G06F30/17G06F30/20G06F119/14
CPCG06F30/17G06F30/20G06F2119/14
Inventor 杨聪彬张雪洋张彩霞赵永胜刘志峰初红艳
Owner BEIJING UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap