【作者】 王淑芬；

【导师】 董惠敏；

【作者基本信息】 大连理工大学 ， 机械设计与理论， 2000， 硕士

【摘要】 本文构造了谐波齿轮传动机构基于运动传递的几何运动学模型和柔轮变形的假设条件，即：运动过程中将齿圈（薄壁圆环）视为若干个刚体的柔性连接，即柔轮变形过程中，周向刚度大，径向刚度很小，中性线上任意两点之间的约束为柔性约束。对空载情况下谐波齿轮传动的运动几何关系进行了较为系统的研究，给出了谐波齿轮传动的传动比明确定义，为谐波齿轮传动的柔性共轭理论研究奠定基础，以其为依据，研究了谐波齿轮传动中的几何运动学、齿形包络及啮合问题。 文中首先在文献[2］［4］的基础上，建立了一种新的谐波齿轮传动的几何运动学模型，在模型建立时忽略柔轮装配前后的变形，仅按运动传递的原理讨论其在运动过程中的输出轴端的圆与啮合端椭圆上点的对应关系，使柔轮单个轮齿的运动规律较传统模型更为清晰明了，有利于对柔轮和刚轮的单齿啮合问题进行讨论和研究。 根据运动传递原理，定义了谐波齿轮传动中两种相关的瞬时传动比（输入与输出轴端的传动比和啮合端齿对间的传动比）。研究表明，这两种瞬时传动比之间的传递关系由柔轮轮齿在波发生器的凸轮曲线上的位置决定，凸轮波发生器所采用的曲线形状直接影响到啮合端瞬时传动比的变化规律。 依据本文所提出的运动几何学模型，对谐波齿轮传动的单齿啮合情况进行了较为系统的讨论。证明了柔轮轮齿的瞬时回转中心就是凸轮波发生器所采用的椭圆曲线的曲率中心，即椭圆曲线的渐缩线：从而提出了谐波齿轮传动的柔性共轭理论，由此可知，如果谐波齿轮传动中的波发生器所采用的凸轮曲线确定了，柔轮和刚轮的单齿啮合的理论几何运动规律也就确定了。 依据柔性共轭理论对谐波齿轮的共轭齿形设计进行了初步探索，并以目前谐波齿轮传动中应用日益广泛的S齿形（实测）柔轮齿形为计算实例。按柔性共轭理论用包络法求得与其共轭的刚轮齿廓，并对S齿形的形成原理、连续接触性等问题进行了分析，最后，将一对S齿形齿轮副的啮合情况进行了仿真。更多还原

【Abstract】 A new kinematic geometry model is set up with the assumption of flexspline -deformation and the software of the geometry kinematics,tooth envelope and meshing animate is programmed in the dissertation.Firstly,the assumption of flexspline deformation is presented as followings. the tooth ring (thin gauge cylinder) can be visualized as flexible connection with rigid bodies,which means that the circumference stiffness is great,the radial stiffness is minor and the restraint between 2 random point on pitch line is flexible during the flexpline deformation.And then,based on motion transmission,the kinematic geometry model is set up. Two instantaneous transmission ratios are defined during the harmonic driver transmission One is transmission ratio of output angular velocity relative to input angular velocity and the other is transmission ratio of flexspline’s tooth angular velocity relative to tooth of circular spline when they are meshing. If the shape of the wave generator cam is given,the theoretical geometry movement rule of the single tooth meshing between flexspline and circular spline can be readily derived.Meanwhile,a new flexible conjugate theory of harmonic driver is proposed. That is:the common normal of the contact point between flexspline tooth profile and circular spline tooth profile divided the line into two parts equal to instantaneous transmission ratio,this line passes through the rotation center of circular spline and the instantaneous revolution center of flexspline. By means of the flexible conjugate theory,the performances of harmonic driver tooth are discussed. Some examples show the procedure of computing,such as S tooth profile.Finally,the software is programmed on Visual C++ platform,which can imitate the meshing of a pair of S tooth profile.更多还原