Accurate description of the elastic deformation of the flexspline is the foundation for optimization design of the structure and conjugate profiles of the harmonic drive gear. This paper proposed an experimental method to investigate the effect of the driving speed on the deformation characteristics of the flexspline. First, an experimental apparatus that integrates a special-fabricated micro-displacement platform and a pair of laser displacement sensors is developed, and the radial displacement of the flexspline is measured in vertical and horizontal directions. Next, the deformation analyses of the flexspline at different driving speeds are performed with our method and the conventional method, and the comparison results reveal that the radial displacement of the flexspline is actually composed of both harmonic and random components, and the amplitude decreases and tends to zero with the increase of the driving speed, especially near the closed end of the flexspline. Last, the mechanisms of the inherent multi-frequency and amplitude attenuation characteristics of the radial displacement of the flexspline are discussed. It is indicated that the impact and friction existing in the flexible bearing of the wave generator is likely responsible for the existence of the random component, and the assumption of linear distribution of the ftexspline deformation along the rotating axis is invalid under high speed condition. Our research promotes the further study on the contact-impact problem of the flexible bearing of the wave generator and the transfer characteristic of the elastic deformation of the flexspline.
A lack of accurate description of the meshing characteristics and the corresponding frictional mechanism of the harmonic drive gear has limited progress toward modeling the hysteresis stiffness. This paper presents a method for detection and quantification of the meshing characteristics of the harmonic drive gear based on computer vision. First, an experimental set-up that integrates a high speed camera system with a lighting system is developed, and the image processing is adopted to extract and polish the tooth profiles of the meshed teeth pairs in each acquired video sequence. Next, a physical-mathematical model is established to determine the relative positions of the selected tooth pair in the process of the gear engagement, and the combined standard uncertainty is utilized to evaluate the accuracy of the calculated kinematics parameters. Last, the kinematics analysis of the gear engagement under the ultra-low speed condition is performed with our method and previous method, and the influence of the input rotational speed on the results is examined. The results validate the effectiveness of our method, and indicate that the conventional method is not available in the future friction analysis. It is also shown that the engaging-in phase is approximately a uniform motion process, the engaging-out phase is a variable motion process, and these characteristics remain unchanged with the variation of the input rotational speed. Our method affords the ability to understand the frictional mechanism on the meshed contact surfaces of the harmonic drive gear, and also allows for the dynamic monitoring of the meshing properties.
