关键词: 谐波减速器, 多源误差, 影响参数分析, 传动误差建模, 模型验证

Abstract: To solve the shortcomings of the existing modeling method for transmission errors of harmonic reducers,a comprehensive error modeling method considering assembly errors and tooth surface errors was proposed.The mathematical models of assembly errors and tooth surface errors were established,and the error influence parameters were analyzed.The eccentricity and tilt angle of the experimental prototype were measured,and the corresponding theoretical values of eccentricity error and tilt error model were obtained based on the model.The amplitude of tooth surface machining error was substituted into the model according to the general machining condition to obtain the corresponding machining error model theoretical value.Then,wearing experiments with durations of 500h,1500h,and 3000h were carried out,tooth surface morphology scanning and data analysis were performed to obtain corresponding tooth surface morphology parameters after wore.The corresponding wearing error model theoretical value was obtained based on the model.Considering the influence of multiple sources of errors,three sets of samples with the same model number were set up for transmission error experiments.The experiment results showed that considering factors such as assembly eccentricity,tilt and tooth surface machining,the experimental measurement error of transmission error was between 1.7% and 3.3% compared to the theoretical value of the model;considering factors such as assembly eccentricity,tilt,tooth surface machining and tooth surface wear after 500h,1500h and 3000h of wearing,the experimental measurement error of transmission error was between -3.45%~2.07%,-5.88%~-2.94%,and 1.33%~5.33% respectively.

Key words: harmonic drive, multi-source error, influencing parameters analysis, transmission error modeling, modeling verification