Research on kinematic characteristics of flexible bearing for harmonic reducer

Yipeng Chen; Yazhen Wang; Zhijie Lin; Haifeng Wang

doi:10.1117/12.2611328

14 October 2021 Research on kinematic characteristics of flexible bearing for harmonic reducer

Yipeng Chen, Yazhen Wang, Zhijie Lin, Haifeng Wang

Proceedings Volume 11930, International Conference on Mechanical Engineering, Measurement Control, and Instrumentation; 119300E (2021) https://doi.org/10.1117/12.2611328
Event: International Conference on Mechanical Engineering, Measurement Control, and Instrumentation (MEMCI 2021), 2021, Guangzhou, China

Abstract

As a high-precision reducer used in industrial robots, the performance of harmonic reducer has a great influence on the accuracy of the entire mechanism. Flexible bearing is forced to deform to ellipse after assembly wave generator, which makes its motion track different from ordinary bearing. Based on the kinematics and geometry principle, the kinematics characteristics of the flexible bearing are studied and the motion track of the rolling element center of the flexible bearing is analyzed. The result shows that it is not a standard ellipse. Then, the relative motion between the bearing pitch ellipse and nodal cage is calculated. Finally, based on the velocity distribution model of the flexible bearing, the motion velocity of the cage is analyzed, and the general expression of the angular velocity of the cage is obtained. The results have guiding significance for the design and optimization of flexible bearing.

Citation Download Citation

Yipeng Chen, Yazhen Wang, Zhijie Lin, and Haifeng Wang "Research on kinematic characteristics of flexible bearing for harmonic reducer", Proc. SPIE 11930, International Conference on Mechanical Engineering, Measurement Control, and Instrumentation, 119300E (14 October 2021); https://doi.org/10.1117/12.2611328

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