Designing Single-Stage Harmonic Drives and Double-Stage Drives with Harmonic Gear Clutch

The primary task of modern domestic engineering is to improve the quality of manufactured machines. The development of automatic control systems and industrial robotics as a means of ensuring comprehensive automation of manufacturing processes requires the development of drive elements (electromechanical drives) of a new generation that offer high efficiency, durability, and high accuracy at small axial and radial dimensions and weight. The harmonic drives with wave generators of internal and external deformation developed by BMSTU largely satisfy these requirements. The design schemes of two types of harmonic drives are considered; single stage and those with a flex spline with two gear rings that provide wave gearing and harmonic gear clutching. The authors propose a combined design algorithm that takes into account transmission ratio and scheme of the harmonic drive, output shaft torque, service life, strength characteristics of the flex spline, and other quality indicators. The application of this algorithm will improve quality and reduce the design time of harmonic gear drives.

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