波動歯車装置におけるフレキシブルスプラインの固有振動数と振動モード

概要

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The vibration caused by strain wave gearing (commonly known as harmonic drive gearing) is becoming a seriouse problem because the gearing is used in many industrial robots that is required precision positioning accuracy. The kinds of above vibration are not only the torsional vibration, that is considered the gearing unite as a spring element of torsion, but also flexural vibration for each of components of the gearing. Especially in flexible spline (=FS), which is one of the components of the gearing, there are many factors for flexural vibration. As the reason, FS is in shape such a very thin cup, and it deforms easily. Also it is forced periodically by wave generator, which is one of components, too. But the influence of the vibration of FS on the dynamic behavior of the gear system is not yet defined. Therefore, the natural frequency and the mode for the flexural vibration of FS are considered experimentally in this study. This paper presents the results obtained from the experiments.
宇部工業高等専門学校の論文