谐波齿轮传动装置的动态传动误差分析
Dynamic Analysis of Transmission Error of Harmonic Gear Drive
作者：裴欣(四川大学 空天科学与工程学院, 四川 成都 610065)；张立华(陕西长空齿轮有限责任公司, 陕西 汉中 723102)；周广武(四川大学 空天科学与工程学院, 四川 成都 610065)；张振华(四川大学 空天科学与工程学院, 四川 成都 610065)；胡如康(四川大学 空天科学与工程学院, 四川 成都 610065)
Author：PEI Xin(School of Aeronautics and Astronautics, Sichuan Univ., Chengdu 610065, China)；ZHANG Lihua(Shaanxi Changkong Gear Co. Ltd., Hanzhong 723102, China)；ZHOU Guangwu(School of Aeronautics and Astronautics, Sichuan Univ., Chengdu 610065, China)；ZHANG Zhenhua(School of Aeronautics and Astronautics, Sichuan Univ., Chengdu 610065, China)；HU Rukang(School of Aeronautics and Astronautics, Sichuan Univ., Chengdu 610065, China)
收稿日期：2017-05-10 年卷（期）页码：2019,51(4):163-170
期刊名称：工程科学与技术
Journal Name：Advanced Engineering Sciences
关键字：谐波减速器;齿轮;传动误差;传动精度;频谱分析
Key words：harmonic reducer;gear;transmission error;transmission accuracy;spectrum analysis
基金项目：国家高技术研究发展计划（863计划）项目（2015AA043001）
中文摘要
动态传动误差是谐波齿轮传动装置质量的一个重要指标，也可以为进一步改善谐波减速器的设计和加工提供依据，因此对传动误差的研究具有重要的理论意义与工程价值。为了确定影响谐波齿轮传动精度的因素，通过传动实验平台对谐波齿轮传动的运动精度进行分析研究。从谐波齿轮传动的误差源入手，首先分析了误差产生的原因，然后测试了减速器在不同负载与转速下的传动误差曲线，对测量的数据进行插值滤波消除“噪声尖峰”后，通过离散傅里叶变换以及希尔伯特黄变换对误差信号进行处理。对比时频域下的表现，研究了转速、载荷对谐波减速器传动误差的影响，分析了传动误差以及传动误差各频率分量随着转速、载荷的变化规律。对日本SHF-25/120-2UH减速器的实验结果表明：在额定负载下，谐波减速器的传动精度稳定性比空载以及轻载时高。谐波减速器的传动误差曲线会随着负载的改变而改变，但是由于不同误差分量的耦合作用，总的传动误差变化并不明显。同时传动误差在不同转速下的表现几乎相同，说明转速对传动误差的影响较小。该款谐波传动装置动态传动误差主要来源为2倍频的单次啮合误差，1/3倍频的多次啮合累积误差，以及刚轮旋转1周产生的累积误差，其中1/3倍频处的多次啮合累积误差对传动精度的影响最大。
英文摘要
Dynamic transmission error is an important indicator of the quality of harmonic gear transmission. It can also provide a basis for further improving the design and processing of harmonic reducer. Therefore, the research on transmission error has important theoretical significance and engineering value. In order to verify the factors affecting the accuracy of harmonic gear transmission, the motion accuracy of the harmonic gear transmission was analyzed and studied through experimental methods. Starting from the error source of harmonic gear transmission, the cause of the error was analyzed firstly, then the transmission error curve of the reducer under different loads and speeds was tested. The measured data was interpolated and filtered to eliminate the “noise spike” and then discrete. The Fourier transform and the Hilbert transform was used to deal with the error signal. Comparing with the performance in the time-frequency domain, the effects of speed and load on the transmission error of the harmonic reducer were studied. The variation of transmission error and frequency component of transmission error with speed and load was analyzed. The experimental results of the Japanese SHF-25/120-2UH reducer showed that the transmission accuracy of the harmonic reducer under rated load is better than that of the no-load or light load. The transmission error curve of the harmonic reducer changes with the change of the load, but due to the coupling effect of different error components, the total transmission error does not change significantly. At the same time, the transmission error is almost the same at different speeds.The main errors of the dynamic transmission error of the harmonic drive are the double frequency, the multiple meshing accumulative errors of the 1/3 frequency, and the accumulative errors generated by the rotation of the circular spline. The cumulative error of 1//3 frequency make the biggest influence to the transmission error.
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