Study on the envelope process of the flexspline of harmonic reducer based on the angle of wave generator

Harmonic reducer is the core part of robot joint, its tooth shape design theory and meshing characteristics will directly affect the motion control accuracy and vibration characteristics of robot. This paper studies the meshing process of the circular spline and flexsplines of the harmonic reducer based on the double arc profile and the elliptical wave generator. The main innovation of this research is to take the input angle of the wave generator as an independent variable, which more clearly represents the enveloping process and meshing interval distribution of the tooth profile. The results show that the secondary meshing process of the double circular arc tooth profile exists on both sides of the long axis of the wave generator. But the second conjugate contact interval is small, so the optimization of tooth shape should focus on the first conjugate interval. This study provides a theoretical basis for the design of tooth profile parameters of harmonic reducer.