A harmonic drive is a two gear epicyclic drive with a gear set of circular ring gear (RG), a flex rimmed external toothed gear (FG) and an oval cam. FG, with oval cam inside, takes non-circular gear shape encounters improper teeth mating with RG, having only two teeth difference. Consequently, interferences occur at several tooth pairs even at no load. These are inherent and obvious. Overcoming such interferences and further with applied load estimation of load sharing by tooth pairs poses a complex problem. In solving it, first, tooth stiffness of internal gear and external gear are derived in the present investigation. A method of estimating the load shared by the multiple tooth pairs in contact is proposed. The load distribution pattern in proportion to the tooth deformation is considered. Load shared by contacting tooth pairs is estimated and stresses in FG cup are found out using FEM. Finally, such results are compared with experimental results, which have good agreement.

Load sharing by tooth pairs in involute toothed harmonic drive with conventional wave generator cam

Ein erster und ein zweiter ausen verzahnter Verzahnungsbereich (7, 9) eines Verformungswellgetriebes (1) werden durch einen Wellgenerator (10) in eine elliptische Form verbogen, um in ein erstes bzw. in ein zweites innen verzahntes Zahnrad (2, 4) einzugreifen. Der erste und der zweite ausen verzahnte Verzahnungsbereich (7, 9) werden so verbogen, dass sie elliptische Formen haben, deren Phasen um eine Rotationszentralachse (1a) um 90° gegeneinander verdreht sind. Zwischen dem ersten und dem zweiten ausen verzahnten Verzahnungsbereich (7, 9) ist ein ausen verzahntes Kopplungsverzahnungsbereich (8) ausgebildet, der eine kreisformige Querschnittsform behalt, die sich nicht verbiegt. Der ausen verzahnte Kopplungsverzahnungsbereich (8) wird so auf eingreifende Art und Weise mit einem innen verzahnten Kopplungszahnrad (3) gekoppelt gehalten. Das Verformungswellgetriebe (1) hat eine hohe Eingriffssteifigkeit und ist in der Lage, ein groses Drehmoment zu ubertragen.

The strain wave gearing

Over the years, numerous investigations have established the gerotor fundamentals. This work aims to provide a complete review of the literature from the last decade, focusing on the articles published in the past five years on gerotor technology in hydraulic machines. The report gives a catalogue of guidelines based on the trochoidal-envelope definition, a background analysis, the worldwide distribution of articles in each continent and country and the most frequently used keywords in the field. The paper identifies state-of-the-art research, and reports on current mainstream ideas. From the historical background, this literature review reports the current approaches in gerotor pumps (geometry and performance approaches, modeling and numerical simulations), orbital motors and new concepts. The report will serve as a guide and a directory for novel engineers working with gerotor technology in hydraulic machines. Another intention of this paper is to disseminate the works of the researchers who use this technology around the world, and to provide a scenario for future international collaboration. The paper gives an account of the disparity between academia and engineering applications. There is currently very little published literature on design and production methodologies for gerotor pumps and orbital motors. Hence, the future goal is to collect recommendations that combine academia and industry expertise to make better use of these extensive studies in the field.

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A Review of Gerotor Technology in Hydraulic Machines

Optimal design of wave generator profile for harmonic gear drive using support function

A Real-time Coupling Model of Bearing-Rotor System Based on Semi-flexible Body Element

Effect of Cam Insertion on Stresses in Harmonic Drive in Industrial Robotic Joints

Stresses in flex spline/gear cup in harmonic drives with involute toothed gear pair and conventional strain wave generating cam are analyzed using finite element method in ANSYS® environment and ex...

https://journals.sagepub.com/doi/pdf/10.1177/0954406216682541

Evidence of secondary tooth contact in harmonic drive, with involute toothed gear pair, through experimental and finite element analyses of stresses in flex-gear cup

Involute toothed internal−external standard gear sets are modeled for load-sharing by the teeth pairs in mesh along the line of contact. An analytical solution is proposed. Considering the rigid bo...

Static load sharing by tooth pairs in contact in internal involute spur gearing with thin rimmed pinion

In High Temperature Superconducting (HTS) power cable, HTS tapes are wound helically around a circular former and are subjected to different types of mechanical loads during manufacturing, transportation and installation of cable. The strain developed within the HTS tape during these processes may affect the superconducting properties of the tape. In the present work, 3D structural finite element (FE) models using ANSYS® are developed to obtain the strain behaviour of the tape under different loading conditions, considering the layered sandwich composite structure of 2G HTS tapes. The analysis is carried out with axial tensile and twisting loads on the tape, during helical winding of tape around the former and a combined effect of helical winding with external tensile and bending loads. The result obtained from FE simulation due to applied tensile load is compared with the established experimental result, which shows a good agreement. Further, the strain developed within the tape affects the critical current. Therefore, the strain is coupled with an empirical relation to obtain the critical current degradation of the tape. The FE analysis is carried out for five different winding pitches and four different bending radii with YBCO layer in the downward position and the corresponding critical currents are estimated. Further, a minimum winding pitch is obtained, below which the rapid degradation of critical current is initiated. The results show that the HTS tape with YBCO in downward position can withstand more amount of external load without affecting the critical axial strain of the tape.

Vineet Sahoo

Papers

Load sharing by tooth pairs in involute toothed harmonic drive with conventional wave generator cam

Effect of Cam Insertion on Stresses in Harmonic Drive in Industrial Robotic Joints

Evidence of secondary tooth contact in harmonic drive, with involute toothed gear pair, through experimental and finite element analyses of stresses in flex-gear cup

Static load sharing by tooth pairs in contact in internal involute spur gearing with thin rimmed pinion

Structural Analysis of 2G HTS Tapes under Different Loading Conditions for HTS Power Cable using Finite Element Modeling