Structural design of flexible wheel of harmonic reducer based on efficiency improvement

With the rapid development of robot, the efficiency of harmonic reducer is more and more demanding. The transmission efficiency model of harmonic reducer under variable speed and load is established in this paper. The accuracy of the model is verified by experiments. The model can solve the friction coefficient of harmonic reducer, which provides a new method for calculating friction coefficient. In order to improve the efficiency of harmonic reducer, this paper analyzes the influence of flexible wheel structure size on transmission efficiency. The transmission efficiency of harmonic reducer can be improved by reducing the thickness, length and pressure angle of the flexible wheel. The efficiency decreases with the increase of speed and increases with the increase of load. In the case of the same dividing circle diameter, reasonable flexible wheel structure design can improve the transmission efficiency under variable speed and load. The maximum difference of transmission efficiency of different flexible wheel structure design can reach 17.88%. This work provides theoretical guidance for the structural design of harmonic reducer to improve efficiency.