摘要：因为拥有着许多相比于传统传动系统没有的优点，谐波齿轮传动系统现在已经被普遍地应用于宇航探索事业、电子雷达探测系统、智能化设备、军工事业以及通用机械等领域。柔轮是谐波传动减速器中最主要的零部件之一，柔轮的弹性变形和稳定性能直接影响谐波齿轮的传动精度。在啮合传动过程中，柔轮齿部承载着交变应力的作用，而柔轮本体又作为运动的输入或输出部件，因此，柔轮齿部和本体之间的联接对整个传动系统的性能起着至关重要的作用。而。为提高谐波齿轮减速器的传动性能，需要对柔轮的筒体和本体之间的联接结构进行优化，本文采用弹性联接方式对联接部分进行优化，并利用有限元分析的方式来进行对比分析。

(1)通过分析谐波齿轮传动柔轮本体和柔轮齿部不同的变形要求，建立了柔轮扭转变形对传动精度的影响分析，确定了联接部分的功能要求，，为柔轮连接部分的结构设计提供理论基础。

(2)分析常用弹性联接的工作原理和方法，采用弹性联接刚度模态分析法对弹性结构进行分析，确立环形弹簧结构对柔轮联接处进行联接结构设计和改进分析研究。

(3)以杯形谐波传动减速器LHSG-20-50-C-III型号的法兰杯形柔轮为基础开展柔轮联接的有限元分析。在3D建模软件SolidWorks中建立杯形柔轮的三维模型，把模型引入到有限元分析软件ANSYS中，生成有限元模型，根据柔轮的理论变形进行约束，（这里说明有限元分析结果）。

（4）通过对不同结构的柔轮进行静应力分析，得到不同结构对柔轮模型的应力影响分析，形成对杯形柔轮结构优化设计的基础。

关键词：谐波齿轮传动；杯形柔轮；弹性联接；结构设计；有限元分析

Abstract：Because there are many advantages compared to conventional transmission systems, the harmonic gear drive system has now been widely used in aerospace exploration, electronic radar detection systems, intelligent equipment, military utilities and general machinery and other fields. The flexible wheel is one of the most important parts of the harmonic drive reducer, and the elastic deformation and stability of the flexible wheel directly affect the transmission accuracy of the harmonic gear. During the meshing drive, the flexible tooth teeth carry the action of alternating stress, and the flexible wheel body acts as an input or output part of the movement. Thus, the connection between the flexible tooth teeth and the body is the same as the performance of the entire drive system Plays a vital role. and. In order to improve the transmission performance of the harmonic gear reducer, it is necessary to optimize the coupling structure between the cylinder and the body of the flexible wheel. In this paper, the coupling part is optimized by elastic connection method, and the finite element analysis method is used to analyze the coupling.

(1) By analyzing the different deformation requirements of the flexible wheel drive and the flexible tooth of the flexible gear, the influence of the torsion deformation of the flexible wheel on the transmission precision is established, and the functional requirements of the connecting part are determined. Structural design to provide theoretical basis.

(2) Analyze the working principle and method of common elastic connection. The elastic joint stiffness analysis method is used to analyze the elastic structure, and the design and improvement of the joint structure of the flexible spring joint are established.

(3) Finite element analysis of the flexible wheel connection based on the flange cup- shaped flexible wheel of the LHSG-20-50-C-III model of the cup-shaped harmonic drive reducer. In the 3D modeling software SolidWorks, a three - dimensional model of cup - shaped flexible wheel is established. The model is introduced into finite element analysis software ANSYS to generate the finite element model, which is restrained according to the theoretical deformation of the flexible wheel (here the finite element analysis result).