谐波减速器故障特征频率计算方法研究

Harmonic drive is a transmission mechanism that relies on controllable deformation produced by flexible components, which are subjected to continuous alternating stress. As a result, the risk of failure is significantly higher than that of conventional transmission mechanisms. Changes on the fault location, kinematic relationship, and bearing area may cause the interval distribution and periodic transformation of the fault characteristic frequency. As the running of harmonic drive based on the close coordination of several rotational components is within a narrow space, the transmission of single fault may cause the appearance of fault characteristics of multiple faults, so that the fault location is difficult. Therefore, an equivalent method was proposed to clarify the time-varying patterns of the flexible bearing fault frequency by equating the kinematic relationship of continuous transient with that of a conventional bearing. The calculation procedure of the fault characteristic frequency for the circular spline, flex-spline, flexible bearing, and cross roller bearing was presented. A fault simulation experiment was conducted to validate the theoretical analysis, the fault characteristics for multiple faults were provided. The results show that the experiment results are consistent with that of the theoretical analysis, and the fault characteristic frequency can be obtained based on the proposed method.