Machines (Nov 2022)

Development of Harmonic Drive Combining Four Arcs for Conventional Kinematic Application

  • Taesu Kim,
  • Jongseok Lee,
  • Wonhyeong Jeong,
  • Hansu Jeon,
  • Sehoon Oh

DOI
https://doi.org/10.3390/machines10111058
Journal volume & issue
Vol. 10, no. 11
p. 1058

Abstract

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This paper proposes a modified harmonic cam, which is used to design a harmonic drive. Conventional harmonic drives using a sinusoidal cam type pertain to an elastic body concept and are thus difficult to design and evaluate. Unlike the conventional sinusoidal cam, the proposed harmonic cam involves a combination of four arcs. Such cams can be designed based on a rigid body concept, and thus, the tooth profile can be designed and analyzed using the established gear theory. The novel harmonic cam is designed by exploiting four-arc combinations, and guides for designing harmonic drives with involute and cycloid angular teeth are presented. A harmonic drive with a difference of two teeth between the circular spline and flex spline is designed. The operation, tooth engagement, and interference are validated through a mock-up production using a 3D printer and gear simulation program. The findings can facilitate the facile design and manufacturing of harmonic drives.

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