摘要谐波传动自美国学者Musser于1950年提出后，作为一种具有结构简单，重量轻，传动比范围大，传动精度高，承载能力大，齿隙小的优点的新型传动，它在随后的几十年中得到了快速的发展。谐波传动主要由刚轮，柔轮，波发生器三大部件组成，波发生器又由具有凸轮廓形的凸轮以及柔性轴承组成，主要靠柔轮的弹性变形传递运动。目前国内外已经成功地将谐波齿轮传动应用于航工航天，高能加速器，原子反应堆，雷达系统，机器人，军事以及通用机械等领域。但是谐波传动依然存在如柔轮周期性变形易疲劳损坏，柔轮和波发生器制造难度较大，传动比的下限值高等缺点，这些谐波齿轮传动技术中尚未解决的问题需要我们对其进行进一步深入的研究。48907

本文首先阐述了谐波传动的原理，国内外研究现状特点以及发展趋势，主要针对工业机器用精密谐波传动装置原理方案，参数和结构进行了设计研究，使工业机器人关节驱动具有结构紧凑，高承载，高刚度和高精度的优点，采用MATLAB软件对齿廓参数进行优化设计，对啮合状态进行仿真分析以验证设计的正确性，并编制参数化设计的软件，对传动精度进行分析，对其中关键的零部件进行刚度和强度的分析校核，最终完成对工业机器人减速器传动方案参数结构的设计以及零件二维工作图和三维实体装配图的设计。

毕业论文关键词  谐波传动，减速器，参数化设计，啮合仿真 

毕业设计说明书外文摘要

Title  Design parameters and engaging movement of industrial machinery precision harmonic drive simulation                     

Abstract

Harmonic Drive Since the American scholar Musser made in 1950, as a new drive has a simple structure, light weight, transmission ratio range, high transmission accuracy, large load capacity, the advantages of small backlash, which in the next few decade has been rapid development. Harmonic Drive consists of just round, soft round, the wave generator is composed of three parts, and the wave generator cam bearings and a flexible composition has a convex contour shaped mainly by the elastic deformation of flexible wheel to transmit motion. At home and abroad has been successfully applied to the harmonic drive navigation workers in aerospace, high-energy accelerators, atomic reactors, radar systems, robotics, military and general machinery, and other fields. But the harmonic drive still exists as cyclic deformation of flexible wheel fatigue damage, flexible wheel and wave generator manufacturing more difficult, the lower limit of the shortcomings of higher transmission ratio, these harmonic gear drive technology unresolved issues that we need to its further in-depth study.

This paper describes the principle of harmonic drive, the research status and trend of development, mainly for the design studies for industrial machinery with precision harmonic gear principle programs, parameters and structure, the industrial robot joint drive with a compact, high load, high rigidity and precision advantages of using MATLAB software tooth profile parameters to optimize the design of the engagement state simulation analysis to verify the correctness of the design and preparation of parametric design software, the drive precision analysis, which the key components are analyzed checking stiffness and strength, and ultimately complete the program of industrial robots reducer drive parameter structure design and working drawings and three-dimensional parts assembly drawing design entity.

Keywords  Harmonic drive, reducer, parametric design, simulation engagement

目录

1  引言 1

1.1  课题研究意义