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 fatigue strength check of the flexspline is the premise and basis of the design of harmonic drive. Fatigue strength of the flexspline with inner and outer gear ring of micro harmonic drive are checked.Through the check calculation and finite element analysis, fatigue strength of inner and outer gear ring can meet the strength requirements.
This paper is focused on the micro harmonic drive with a planet type wave generator in which flexspline consists of internal and external gear rings. The mathematical relationship between the coordinates of the points on the tooth profile of the deformed flexspline and that of the undeformed flexspline is derived by carrying on the coordinates transformation. According to this mathematical relationship, the coordinates of the points on the both sides of the tooth profile of every gear tooth of the one forth of the internal and external gear rings of the deformed flexspline are solved with the use of the mathematical software, then the coordinates are imported into the software Pro/E, and connect in a correct order with spline curves, the two curves have been mirrored and extended to finish the 3D modeling of the deformed flespline. At last, the FEM analysis of the deformed flexspline has been carried out.
By introducing the experimental purpose, instruments and the main function of the planar five-bar parallel robot dynamics, this paper concluded the principle diagram of control system of the planar five-bar parallel robot. And the method and process of the experiment was detailed description. Through the analysis of vibration acceleration curve and frequency domain curve, which were obtained by the experimental data of the planar five-bar parallel robot end-effectors, the characteristics of time and frequency domain of the planar five-bar parallel robot were clearly shown.
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