Abstract

As the harmonic drive (HD) pivotal component, the flexspline (FS) fatigue fracture and wear affect the HD transformation precision and load-carrying capacity. And the FS meshing force is crucial to analyze its wear. However, HD operates under complex conditions and experiences variable loads, the impact of various loads on the meshing force should be analyzed. To elucidate FS force transmission states under load, its internal force is calculated based on the force equilibrium equation, and then the FS state equations are constructed. A theoretical model for solving the circumferential deformation coefficient at FS tooth meshing point is proposed to investigate its deformations in meshing. Subsequently, the influences of load on the circumferential meshing stiffness and force are analyzed. Results show that the load significantly impacts the parameters above, and the meshing force solving methods, which predicates an unloaded condition circumferential meshing stiffness, introduce remarkable error. Therefore, Therefore, a theoretical model is established to reflect the FS meshing force under loading, which is proven to be accurate by conducting finite element analysis. The modeling method and research conclusions contribute to the tooth profile optimization and HD stress analysis.