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Kinematic Characteristics Analysis of Gear Teeth in Harmonic Drive

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Advances in Mechanism and Machine Science (IFToMM WC 2023)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 149))

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Abstract

This paper presents a kinematic model of harmonic drive to characterize the rigid-flexible compound motion of gear teeth of circular spline and flexspline. The model reveals the instantaneous inequality between the output angle and flexspline tooth rotation angle. Firstly, the kinematic model is established with consideration of the flexspline cup deformation. Then, the instant rotation center and centrode of the flexspline tooth are systematically analyzed corresponding to different deformed neutral curves. Subsequently, the instantaneous pitch point of the conjugate tooth profile is identified by converting the relative motion of gear teeth into the meshing between a pair of gears with time-varying center distance. On this basis, the conjugate meshing process between the circular spline and flexspline teeth can be abstracted as the pure rolling between two moving centrodes, and the moving centrodes of the circular spline and flexspline teeth are investigated. The outcomes of this paper can provide significant guidance for the kinematic characteristics analysis of gear teeth in harmonic drive.

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Acknowledgment

This work was supported by the National Natural Science Foundation of China [grant number 52075363] and the Natural Science Foundation of Tianjin, China [grant number 22JCZDJC00920].

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Authors and Affiliations

  1. School of Mechanical Engineering, Tianjin University, Tianjin, 300354, China

    Guocheng Zhou, Ran Xie, Heyu Liu & Yuhu Yang

Authors
  1. Guocheng Zhou
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  2. Ran Xie
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  3. Heyu Liu
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  4. Yuhu Yang
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Corresponding author

Correspondence to Yuhu Yang .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan

    Masafumi Okada

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© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG

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Zhou, G., Xie, R., Liu, H., Yang, Y. (2024). Kinematic Characteristics Analysis of Gear Teeth in Harmonic Drive. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 149. Springer, Cham. https://doi.org/10.1007/978-3-031-45709-8_3

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  • DOI: https://doi.org/10.1007/978-3-031-45709-8_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-45708-1

  • Online ISBN: 978-3-031-45709-8

  • eBook Packages: EngineeringEngineering (R0)

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