一种基于非均匀有理b样条谐波驱动的新型波形发生器设计

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-09-09 DOI:10.1016/j.mechmachtheory.2025.106200

Jiawen Yang , Jiahao Ding , Xincheng Teng , Shaoze Yan

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引用次数: 0

摘要

本文提出了一种基于非均匀有理b样条的谐波驱动波形发生器的设计方法。通过调整控制点的数量和位置，该方法允许对波浪发生器剖面进行更大的灵活性和精确控制。简要介绍了纯运动误差和履带效应。采用有限元模型对其力学性能进行了验证。用不同数量的控制点（四个、五个和六个）创建不同的波浪发生器剖面，分析曲率、运动学误差、履带效应和机械性能。结果表明，与传统的椭圆凸轮设计相比，该设计显著降低了纯运动误差，改善了应力分布，提高了啮合度和整体系统性能。这种创新的方法为优化谐波驱动提供了更有效和适应性更强的解决方案。

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A novel wave generator design of harmonic drive based on non-uniform rational B-splines

This paper proposes a novel design for the wave generator in harmonic drives using non-uniform rational B-splines. The approach allows for greater flexibility and precise control over the wave generator profile by adjusting the number and the position of the control points. The purely kinematic error and the caterpillar effect are briefly introduced. A finite element model is employed to validate the mechanical properties. Different wave generator profiles, created with varying numbers of control points (four, five, and six), are analyzed regarding curvature, kinematic error, caterpillar effect, and mechanical performance. Results show that the proposed design significantly reduces purely kinematic errors and improves stress distribution compared to traditional elliptical cam designs, enhancing engagement and overall system performance. This innovative method offers a more efficient and adaptable solution for optimizing harmonic drives.

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry