The Analysis of Jamming in Gearings of Non-Power Harmonic Drives

Nowadays, harmonic drives are widely used in mechanisms of automatic control and radiolocation systems; in drives of aerials, robotic systems and aircraft; in recording devices, etc. Harmonic drive is a type of planetary drive with internal gearing with a small difference in the number of teeth, therefore jamming problems of the circular and flex spline teeth are relevant for this type of drive. If jamming occurs in a harmonic drive with a disk wave generator of internal deformation, it may lead to slippage of the wave generator. If the teeth are jammed in a harmonic drive with a circular wave generator of external deformation, it may cause damage to the flex spline or wave generator bearings. That is why it is important to eliminate teeth jamming at the design stage. The article presents the results of the theoretical analysis of jamming in kinematic harmonic drives with disk wave generators of internal deformation and circular wave generators of external deformation. The results obtained allow eliminating harmonic drive meshing interference at the design stage.

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