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Research Papers

Kinematic Effect of the Compliant Cup in Harmonic Drives

[+] Author and Article Information
Huimin Dong1

Delun Wang

School of Mechanical Engineering,  Dalian University of Technology, Dalian 116024, P. R. China e-mail: dlunwang@dlut.edu.cndlunwang@dlut.edu.cn

Kwun-Lon Ting

Center for Manufacturing Research,  Tennessee Technological University, Cookeville, TN 38505 e-mail: kting@tntech.edu

1

Visiting scholar (March 2009 to April 2010), Center for Manufacturing Research, Tennessee Tech University, Cookeville, TN.

J. Mech. Des 133(5), 051004 (Jun 06, 2011) (7 pages) doi:10.1115/1.4003917 History: Received April 16, 2010; Revised January 10, 2011; Published June 06, 2011; Online June 06, 2011

The paper and its companion [Dong , 2011, “Kinematic Fundamentals of Planar Harmonic Drives,” ASME J. Mech. Des., 133 (1), p. 011007], which treats a harmonic drive without a cup, present the geometry-relevant operation of harmonic drives under an ideal little or no-load condition. This paper shows that the cup is essentially a compliant mechanism with the unique feature of transforming a set of different tooth rotations into a single rigid body rotation and demonstrates how the cup affects tooth conjugation and the conjugate tooth profiles. It proves and demonstrates that the conjugating tooth profile should be a three-dimensional surface because of the cup deformation. The use of spur gears on both flexspline and circular spline will cause excessive interference and excessive deformation will become necessary to overcome the interference. Since no-load geometry is clearly identified, excessive deformation and errors due to incorrect geometry can be removed or filtered and the loading effects can be identified. Contact ratio of a harmonic drive is also obtained through the range of conjugate positions. Although loading is not considered, the geometric error is. Eliminating or reducing geometric error will improve the performance.

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Copyright © 2011 by American Society of Mechanical Engineers
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References

Figures

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Figure 2

The FS neutral curve on the WG transverse section

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Figure 3

Coordinate systems of HDs

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Figure 4

Relative motion of S f to S F -system

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Figure 5

The FS conjugate profile to a CS involute profile section: (a) Two conjugate segments on the 11th cross section; (b) The 1st conjugate segment on the 1st and 21st cross sections

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Figure 6

The contact path on the FS tooth surface

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Figure 1

Structural diagram of an HD

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