Abstract
This paper will introduce the torsional vibration test method and signal analysis for a harmonic reducer in industrial robot. The harmonic reducer is generally applied to the fifth and sixth axes of the industrial robots, and the torsional vibration will affect the mechanical performance. To understand the torsional vibration condition of the harmonic reducer, the test device is set up through loading the corresponding moment of inertia. In the study, the curve of torsional characteristic is obtained, and it can be used to assess the mechanical performance; Using zoom spectrum technology on harmonic resonance, the characteristic frequency is identified in detail. The manufacturing defect of the harmonic reducer is diagnosed based on characteristic frequencies of its transmission, and defect elimination is successfully realized by adjustment of components in the harmonic driver; Some nonlinear vibration characteristics caused by stiffness with time periodic dependent, including bi-spectrum and harmonic resonance, etc., are investigated. The experimental results show that the test and analysis of torsional vibration have positive significance for the online quality assembly assurance of harmonic reducer.
Highlights
Under the action of the wave generator, the flexible pinion of the harmonic reducer continuously meshes with the rigid gear to realize the less-tooth power transmission [1]
They established the finite element model to find the stiffness of the wave generator has a significant impact on torsional stiffness in the harmonic driver under different torque loads, and the stiffness of the flexible wheel has different effects on the torsional stiffness [2]
2) If abnormal case occurs in the curve of torsional characteristic, using zoom spectrum technology on harmonic resonance, bi-spectrum will be analyzed in detail and the characteristic frequency will be identified with higher resolution
Summary
Under the action of the wave generator, the flexible pinion of the harmonic reducer continuously meshes with the rigid gear to realize the less-tooth power transmission [1]. It has advantages of small size and large transmission ratio, so it is widely used in various types of robot end joints. Henri Champliaud et al believe that torsional stiffness is a key factor in the positioning accuracy and control of harmonic drive They established the finite element model to find the stiffness of the wave generator has a significant impact on torsional stiffness in the harmonic driver under different torque loads, and the stiffness of the flexible wheel has different effects on the torsional stiffness [2]. Signal processing and identification for torsional vibration are carried out
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