Stress analysis of strain wave gear drives with four different geometries of wave generator
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ORIGINAL PAPERS
Stress analysis of strain wave gear drives with four different geometries of wave generator Eloy Yague-Spaude . Ignacio Gonzalez-Perez . Alfonso Fuentes-Aznar
Received: 14 May 2020 / Accepted: 19 September 2020 Springer Nature B.V. 2020
Abstract The comparison of strain wave gear drives with four different geometries of the wave generator is presented. The commonly used elliptical geometry of the wave generator is compared with a simplified geometry based on two rolling elements, a geometry based on four rollers, and a newly proposed parabolic geometry for the wave generator. The comparison will be performed in terms of the average maximum stresses caused in the flexible spline due to the rotation of the wave generator. The finite element method and fully-parameterized automatically-generated two-dimensional finite element models are being used in this work. The flexible spline and the ring gear are considered deformable elements whereas the wave generator is considered as a rigid element in the finite element model. The results show that the best mechanical performance in terms of lower average values of maximum von Mises and tensile stresses is
E. Yague-Spaude A. Fuentes-Aznar (&) Department of Mechanical Engineering, Kate Gleason College of Engineering, Rochester Institute of Technology, Rochester, NY 14623, USA e-mail: [email protected] E. Yague-Spaude e-mail: [email protected] I. Gonzalez-Perez Department of Mechanical Engineering, Materials and Manufacturing, Polytechnic University of Cartagena, 30202 Cartagena, Spain e-mail: [email protected]
achieved with the simplified and parabolic wave generator geometries. Although yielding slightly higher maximum von Mises and tensile stresses, the elliptical wave generator provides the lowest average maximum absolute compressive stress. The worst mechanical performance was obtained with the four roller wave generator. Keywords Strain wave gears Wave generator geometry Stress analysis Finite element method
1 Introduction Since their invention in 1959 by Clarence Walton Musser [1], SWG drives have been applied in many applications in the fields of motion control and machine tools. Recently, they have been widely applied in robotics and aerospace. They provide a large gear reduction ratio in a remarkably reduced, compact, and lightweight construction as compared to traditional gear drives. Besides, SWG drives can work with virtually no backlash. This is considerably helpful in robotic joints as well as in aerospace and other applications where space and weight are critical constrains. A SWG drive consists of three main components: a wave generator, a flexible spline, and a ring gear, as shown in Fig. 1. The wave generator is usually an
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Meccanica Wave generator
Flexible spline
Ring gear
Fig. 1 Components of a SWG drive
elliptical cam with a flexible race ball bearing around its outer geometry. The flexible spline is a cup-shaped spring with an external teeth gear located on the open
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