Mathematical model of the double harmonic drive

Using the additive technologies makes it possible to solve the problem of manufacturing mechanical gears on a 3D printer. This manufacture method has high productivity and cost-effectiveness. The paper considers a spatial mathematical model of a double harmonic drive, which second stage is a toothed clutch. It proposes a computation technique based on determining elastic interaction of the flexible, rigid wheels and wave generator, taking into account spatial nature of the elements deformation. Numerical studies were performed for a drive manufactured using the additive technologies. The harmonic drive gear ratio was 30, the difference in the number of teeth of the flexible and rigid wheels in the first stage was 4. Theoretical studies were performed on distribution of forces acting on the lateral surfaces of the teeth in the circumferential and longitudinal directions. Computation was used to obtain the torsional stiffness characteristic of the harmonic drive disk wave generator. The torsional stiffness values were received for different values of the resistance moment.
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