关键词: 谐波齿轮减速器, 动态磨损, 柔轮变形, 可靠性分析, 可靠性优化设计

Abstract: To address problems that wear and deformation factors often cause a low transmission accuracy and poor reliability in the harmonic gear reducer,a transmission error model of the harmonic gear reducer considering wear and deformation factors was established,and reliability analysis and optimization design of the transmission accuracy were conducted.A transmission error model was established by analyzing influencing factors of the transmission error.The Bayesian calibration method was adopted to build the dynamic wear model based on the empirical model and experimental data,and the deformation model of the flexspline was established based on the experimental data and Gaussian process (GP) regression.A reliability model of the harmonic gear accuracy was then constructed by combining the transmission error model,the wear model and the deformation model.The Kriging surrogate model based on Latin hypercube sampling and Monte Carlo simulation method were used to calculate the transmission accuracy reliability of a specific harmonic gear reducer.The optimization design of the harmonic gear reducer was carried out with sequential quadratic programming approach.Results showed that the reliability of the harmonic gear reducer at the working time of 3000h up to 99.02% after optimization for given operation parameters (the output load was 17.5N·m,the input speed was 100r/min),which had increased by 7.85% compared with that of before optimization,while the design cost only increased by 1.70%.

Key words: harmonic gear reducer, dynamic wear, flexspline deformation, reliability analysis, reliability optimization design