Austenite Grain Refinement and Homogenization Control of the Flexspline for Industrial Robot Harmonic Drive

Zhang, Chaolei; Shao, Zhuhao; Zhu, Yucheng; Li, Jian

doi:10.1007/s11665-021-05742-z

Cited by 2 publications

(2 citation statements)

References 15 publications

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“…From the 1950s to 1960s, Waller first put forward the concept of fatigue limit, and obtained the S-N curve describing fatigue behavior and characterizing fatigue performance. Among them, the double logarithmic linear relationship of the S-N curve described by a power function can be expressed by Equation (13) [23,24].…”

Section: Fatigue Life Analysis Of the Flexsplinementioning

confidence: 99%

“…Gravagno et al [12] studied the influence of the shape of the wave generator on the motion error in the process of harmonic drive and quantitatively evaluated it. Zhang et al [13] studied the materials of the flexible wheel and the changes of material properties in the manufacturing process, and analyzed the control strategy of austenite grain refinement and homogenization of the flexible wheel. In 2011, Xiao et al [14] established the mathematical model of harmonic drive CAM wave generator and optimized the structure of CAM wave generator by using finite element software.…”

Section: Introductionmentioning

confidence: 99%

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Modeling and Fatigue Characteristic Analysis of the Gear Flexspline of a Harmonic Reducer

Yang

et al. 2022

Mathematics

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The failure of harmonic gear drive is mainly caused by the fatigue fracture of flexible wheels and the fatigue damage of flexible bearings. In this paper, the stress sensitivity and fatigue life characteristics of flexible wheels with thin-walled vulnerable components are studied. Firstly, the structure of the flexible wheel of a B3-80 general harmonic gear reducer is designed, the finite element model of the flexible wheel is established by using ANSYS finite element software, and the finite element analysis results are compared with the theoretical calculations to verify the correctness of the model. Finally, by changing the cylinder length, smooth cylinder wall thickness and load, the maximum equivalent stress curves of the flexible gear ring, smooth cylinder and flexible wheel bottom are obtained, and the influence law of structural parameters on the stress characteristics of flexible wheel is obtained. At the same time, the influence laws of flexible wheel cylinder length and smooth cylinder wall thickness on the fatigue life of flexible wheel is studied, which provides a theoretical basis for the structural optimization design of the cup flexible wheel.

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Section: Fatigue Life Analysis Of the Flexsplinementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling and Fatigue Characteristic Analysis of the Gear Flexspline of a Harmonic Reducer

Yang

et al. 2022

Mathematics

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Influence of Materials on Dry Friction and Wear Performance of Harmonic Reducer Circular Spline

et al. 2023

Metals

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Ductile iron and alloy steel are mostly used as the circular spline materials of harmonic reducers. The study of the differences in wear resistance of different circular spline materials is a strong basis for the design of high-precision and long-life harmonic reducers. The dry friction behaviors under room temperature of two ductile iron (low-load SHF and high-load SHG) alloys and steel (40Cr) circular spline materials were studied with a quantitative analysis of the alloy composition, microstructure, hardness and wear resistance. The results showed that the microstructures of SHF, SHG and 40Cr were graphite nodules within a tempered sorbite matrix, graphite nodules within a pearlite matrix and tempered sorbite, respectively. The hardness was inversely proportional to the wear resistance. The wear resistance of ductile iron was better than that of 40Cr, with SHF having the best wear resistance. The microstructure of the SHF and SHG ductile iron had a length of 8.1 μm, 5.9 μm (Ti, V, Mo)/C and Cu/Mg second-phase particles. Compared with tempered sorbite, the self-lubricating layer formed by the graphite nodules can effectively reduce wear. The proportion and average diameter of the SHF graphite were 1.2% and 30.9% higher, respectively, than those of the SHG graphite, providing a higher graphite spalling probability and longer graphite lubrication distance.

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Austenite Grain Refinement and Homogenization Control of the Flexspline for Industrial Robot Harmonic Drive

Cited by 2 publications

References 15 publications

Modeling and Fatigue Characteristic Analysis of the Gear Flexspline of a Harmonic Reducer

Modeling and Fatigue Characteristic Analysis of the Gear Flexspline of a Harmonic Reducer

Influence of Materials on Dry Friction and Wear Performance of Harmonic Reducer Circular Spline

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