Research on Flexspline Strength of Harmonic Reducer for Industrial Robot

The flexspline of a harmonic reducer in an industrial robot has two failure modes. In this paper, using the commercial software Ansys, the problem of flexspline strength is investigated through the boundary condition setting and the static and buckling computation. Meanwhile, the torsion critical load of the flexspline was measured by setting up a torsional test device. The research results show that the flexsplines with different structures have different failure modes, and they can be checked by strength computation.