The gear teeth have influence on the stresses in flexspline, through the influence coefficients of gear tooth of flexspline. For the purpose of theoretically clarifying this influence, the profile of the gear tooth of the flexspline is simplified as two simple shapes of rectangle and trapezoid. The gear tooth influence on the stresses in the flexspline has been studied and analyzed on this two cases, and the two simplified tooth profiles of rectangle and trapezoid have been compared with each other.
The flexible bearing break is an important factor to influence the life of harmonic drive, this paper first introduces the research situation of fatigue fracture above this the design of flexible bearing fatigue life test device of the no-load and load conditions. The device includes a driving part, a loading device, the break device and the monitoring device of bearing`s revolution when it break.
In this paper, the development process of BOPF technology was described, the tubular film stretching method and planar biaxial stretching method were compared, several types of one-step biaxial stretching equipment were introduced, and the prospect of the development of biaxial stretching was given.
MC206X motion controller being chosen as the core of the system, this paper built the control system of a planar five-bar parallel robot, achieved the debugging of the hardware of a full servo control system, developed the Motion Perfect software system on the basis of the Windows-based operating system to complete the planning and control of continuous paths.
In the study of humanoid robot, the system design and analysis of the legs is the foundation of realizing humanoid walking robot. In this paper, structure design of each leg joint has been introduced, and according to the degrees of freedom of each joint distribution, using screw theory and exponential product formula to establish the mathematical model of the legs, to analyze the kinematics of the legs, finally obtains that the range of joint movement comply with the design requirements.
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