On a Gearing Problem in Conventional Harmonic Drives With Involute Toothed Gear Set

2011 ◽  
Author(s):  
Bikash Routh ◽  
Rathindranath Maiti
Keyword(s):  
Applied Load ◽  
Harmonic Drive ◽  
Strain Wave ◽  
Base Circle ◽  
Pitch Curve

Circular pitches of flex spline teeth of a ‘Strain Wave Gearing’, also known as a ‘Harmonic Drive’, are deformed when the Strain Wave Generating Cam is inserted into the flex spline cup. In the present work the deformed pitch distances considering that flex spline teeth remain rigid while the rim deforms, are estimated. No applied load is considered. It is also shown that if the cam is elliptical then the pitch curve is not an ellipse and vice versa. Geometries of such curves can be defined following the analysis presented in this paper. Cases of both undeformed flex spline with circular spline and deformed flex spline with circular spline, with involute teeth, are considered to find out tooth positions. Geometries of involute teeth profiles in mesh are examined and compared considering oval shaped (on deformation) base drum of flex spline where as base circle of circular spline remained circular.

An investigation on secondary force contacts of tooth pairs in conventional harmonic drives with involute toothed gear set

2015 ◽  
Vol 230 (4) ◽  
pp. 622-638 ◽  
Author(s):  
Bikash Routh ◽  
Rathindranath Maiti ◽  
Asok K Ray ◽  
Andrzej Sobczyk
Keyword(s):  
Harmonic Drive ◽  
Strain Wave ◽  
On Line ◽  
Base Circle ◽  
Pitch Curve

Originally fixed and uniform circular pitches of flex spline (FS) teeth of a ‘Strain Wave Gearing’ or ‘Harmonic Drive’ (HD) experience variations in pitch lengths when teeth move on ‘strain wave generating’ oval-shaped cam. This is due to varying root deformations of teeth. In case of teeth with widely used involute profile, away from the contacts on line of action through pitch point, they definitely experience force closeness to or separation from the circular spline’s (CS) originally conjugate tooth. We have estimated the deformed pitch distances at no load considering that FS teeth remain rigid while the rim deforms. The geometry of the oval-shaped pitch curve which is parallel to the elliptical outer profile of the cam is also defined. Similarly to maintain an elliptical pitch curve of FS, the oval cam is also defined. Both cases of tooth mesh of undeformed FS with CS and tooth mesh of deformed FS with CS, with involute teeth, are considered to find out tooth positions. Geometries of involute teeth profiles in mesh are examined and compared considering oval-shaped (on deformation) base drum of FS, whereas the base circle of the CS remained circular.

Evidence of secondary tooth contact in harmonic drive, with involute toothed gear pair, through experimental and finite element analyses of stresses in flex-gear cup

2016 ◽  
Vol 232 (2) ◽  
pp. 341-357 ◽  
Author(s):  
Vineet Sahoo ◽  
Rathindranath Maiti
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Major Axis ◽  
Initial Stresses ◽  
Gear Pair ◽  
Ring Gear ◽  
Harmonic Drive ◽  
Strain Wave ◽  
Element Analysis ◽  
Full Load

Stresses in flex spline/gear cup in harmonic drives with involute toothed gear pair and conventional strain wave generating cam are analyzed using finite element method in ANSYS® environment and experiments. The most innovative part of this investigation is establishing the evidence of secondary contacts and probable load shared by those contacts experimentally over the finite element analysis. Aiming at the performance improvement of gearing in harmonic drives, with involute toothed gear pair, the investigations are carried out through the following analyses. (a) Initial stresses in flex gear cup due to cam insertion only. (b) Stresses in flex gear cup at no load in fully assembled harmonic drive components i.e. flex gear, ring gear, and strain wave generating cam. (c) Stresses in flex gear cup at full load passing through the two pitch points, i.e. the intersection points of ring gear pitch circle, flex gear pitch curve, and major axis on both sides. Finally, (d) stresses in flex gear cup at full load distributed over all possible primary and secondary contacts, in proportion to their contact intensities. Recorded strains of the flex-gear cup while the cam being rotated showed very good agreement with the results obtained by finite element analysis with proper modeling of loading.

Design and development of strain wave generating cam for a new concept ‘harmonic drive’

2012 ◽  
Vol 227 (8) ◽  
pp. 1870-1884 ◽  
Author(s):  
Rathindranath Maiti ◽  
Indraneel Biswas ◽  
Vivek Nema ◽  
Saurabh Basu ◽  
Bhabani Sankar Mahanto ◽  
...  
Keyword(s):  
Harmonic Drive ◽  
Strain Wave ◽  
Assembly Method ◽  
Circular Arcs ◽  
Single Piece ◽  
Cam Profile ◽  
Active Zones ◽  
Gear Contact ◽  
Inner Race ◽  
Center Distance

A split cam design is proposed to solve the problem of assembly of the single piece cam in the flexible raced bearing of an earlier proposed novel harmonic drive system, which shows better torque characteristics and capacities in comparison to the conventional one of same size with oval-shaped strain wave generating cam. The cam profile has circular arcs at two working zones at 180° phases. The proposed profile shape is identified as the cause of trouble in assembly if the cam is made single piece. The split cam is made of two identical pieces having circular arc edges. These pieces constitute the cam in assembly after putting it inside the inner race of the flex bearing and adjusted by an adjuster. The design, kinematics, and the assembly method of the proposed split cam are presented in this article. The split cam arrangement not only solves the assembly problem but also gives a scope of fine adjustment of center distance (eccentricity). Such an adjustment is not possible in conventional oval wave generating cam. Stresses in flex gear cups assembled with both type cams at load and no-load conditions are estimated using finite element method. Some results are verified experimentally. Although the flex gear cup with the proposed split cam experiences lower stresses at load transmitting active gear contact zones, it shows higher stresses at some non-active zones (where teeth are free of load). It is apparent from results that stresses at those non-active zones do not increase substantially with the increase in torque, as they are away from active zones.

scholarly journals Properties of Elasto-Hydrodynamic Oil Film in Meshing of Harmonic Drive Gears

Materials ◽  
2021 ◽  
Vol 14 (5) ◽  
pp. 1194
Author(s):  
Adam Kalina ◽  
Aleksander Mazurkow ◽  
Waldemar Witkowski ◽  
Bartłomiej Wierzba ◽  
Mariusz Oleksy
Keyword(s):  
Theoretical Models ◽  
Tooth Profile ◽  
Wave Transmission ◽  
Harmonic Drive ◽  
Static Characteristics ◽  
Strain Wave ◽  
Correct Operation ◽  
Structural Problem ◽  
Oil Film

Among the essential issues facing designers of strain wave gears, the provision for correct lubrication should be of paramount importance. The present paper presents the results of research on elasto-hydrodynamic oil film in meshing of a harmonic drive with an involute tooth profile. The research was carried out based on theoretical models developed by Dowson and Higginson. For the discussed structural problem, results of the study are presented graphically in the form of static characteristics of the oil film. Correct operation regimes were determined for two different oils. The paper also provides a review of information concerning the design and principle of operation of strain wave transmission.

A Novel Harmonic Drive With Pure Involute Tooth Gear Pair

2004 ◽  
Vol 126 (1) ◽  
pp. 178-182 ◽  
Author(s):  
Rathindranath Maiti
Keyword(s):  
New Wave ◽  
Harmonic Drive ◽  
Tooth Gear ◽  
Circular Arcs ◽  
Wave Generator ◽  
Involute Gears ◽  
Cam Profile ◽  
Pitch Curve ◽  
Engagement And Disengagement ◽  
Circular Pitch

Consider commercially available “harmonic drives” or “strain wave gearings” (all patented designs). The tooth profiles of the mating pairs of teeth of the noncircular (pitch curve) flex gear and circular (pitch circle) ring gears are nearly conjugate and noninvolute. Evidently none of them offers ideal gear kinematics. In this paper, we propose a new wave generator (or cam) to drive flex gears of harmonic drives with fully conjugate gear pairs of purely involute profiles. The cam profile is made of circular arcs at the two diametrically opposite contact zones and shifted elliptical curves for the other two zones. The geometric construction is done in such a way that tip interference is properly avoided for both engagement and disengagement with nominally stubbed or full depth tooth involute gears. We develop the theory of geometric and gearing conditions. We have also built a physical model in order to verify the geometry of tooth interference and other relevant gearing kinematics.

Study of the Base Curve and Formation of Singular Points on the Tooth Profile of Noncircular Gears

2006 ◽  
Vol 129 (5) ◽  
pp. 538-545 ◽  
Author(s):  
Héctor Fabio Quintero Riaza ◽  
Salvador Cardona i Foix ◽  
Lluïsa Jordi Nebot
Keyword(s):  
A Priori ◽  
Tooth Profile ◽  
Singular Points ◽  
Curvature Radius ◽  
Base Curve ◽  
Minimum Number ◽  
Base Circle ◽  
Noncircular Gears ◽  
Gear Wheels ◽  
Pitch Curve

The base circle of a circular gear is concentric with the pitch circle and tangent to the action line. However, in a noncircular gear the base curve is not known a priori and not easy to determine. In this study, the base curves of noncircular gear wheels are obtained as the geometrical locus of the singular points on the involute tooth profile. Singular points—points from which a second involute branch begins to form on the tooth profile—restrict the allowable tooth height and allow the minimum number of teeth required to be estimated. We discuss the influence of the curvature radius of the pitch curve on the allowable tooth height and present an example to illustrate the proposed method.

Performance analysis of asymmetric toothed strain wave gear

2021 ◽  
pp. 095440622110157
Author(s):  
Bikash Routh ◽  
Vineet Sahoo ◽  
Andrzej Sobczyk
Keyword(s):  
Performance Analysis ◽  
Contact Stress ◽  
Carrying Capacity ◽  
Load Carrying Capacity ◽  
Harmonic Drive ◽  
Strain Wave ◽  
Pressure Angle ◽  
Load Carrying

Strain Wave Gear (SWG) or Harmonic Drive (HD) shows moderate performance under symmetrical involute teeth. Teeth interference, excessive teeth meshing, vibration due to improper teeth engagement are the major drawbacks of strain wave gear under symmetrical involute teeth. In the present paper, an attempt has been made to improve the performance of strain wave gear by replacing the symmetrical involute teeth with asymmetrical involute teeth. Present investigation finds that under ‘asymmetric toothed strain wave gear’, aspects such as teeth interference, teeth engagement and teeth contact stress of strain wave gear are improving clearly and as a consequence some other aspects such as individual teeth strength, load carrying capacity, tooth endurance are also improving inherently. In the present analysis for symmetrical teeth 20°–20° pressure angle and for asymmetrical teeth, three different combinations of pressure angles such as 25°–20°, 30°–20° and 35°–20° are taken.

Experimental Studies Of Multilayer Glass Structures On Compression, Compression With Bending And Simple Bending

2019 ◽  
pp. 22-30
Keyword(s):  
Cross Section ◽  
Cross Sections ◽  
Applied Load ◽  
Experimental Studies ◽  
Strength Properties ◽  
Research Topic ◽  
Normative Values ◽  
Laminated Glass ◽  
The Cross ◽  
Experimental Values

The work of multilayer glass structures for central and eccentric compression and bending are considered. The substantiation of the chosen research topic is made. The description and features of laminated glass for the structures investigated, their characteristics are presented. The analysis of the results obtained when testing for compression, compression with bending, simple bending of models of columns, beams, samples of laminated glass was made. Overview of the types and nature of destruction of the models are presented, diagrams of material operation are constructed, average values of the resistance of the cross-sections of samples are obtained, the table of destructive loads is generated. The need for development of a set of rules and guidelines for the design of glass structures, including laminated glass, for bearing elements, as well as standards for testing, rules for assessing the strength, stiffness, crack resistance and methods for determining the strength of control samples is emphasized. It is established that the strength properties of glass depend on the type of applied load and vary widely, and significantly lower than the corresponding normative values of the strength of heat-strengthened glass. The effect of the connecting polymeric material and manufacturing technology of laminated glass on the strength of the structure is also shown. The experimental values of the elastic modulus are different in different directions of the cross section and in the direction perpendicular to the glass layers are two times less than along the glass layers.

Torque and displacement for a micro electromagnetic harmonic drive system

2021 ◽  
Vol 85 (1) ◽  
pp. 139-151
Author(s):  
Dan Zhao ◽  
Yuming Fu ◽  
Lizhong Xu
Keyword(s):  
Drive System ◽  
Harmonic Drive
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