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谐波减速器的动态精度不仅与其各个部件的制造公差和装配间隙有关,还必须考虑谐波减速器柔性和摩擦的影响。目前谐波减速器精度问题研究大多只考虑单一因素,在进行精度分析时没有考虑到模型参数的不确定性对精度的影响。本文考虑谐波减速器在静态因素(加工、装配)和动力学因素(柔性、摩擦)综合作用下的动态精度问题,建立考虑静态误差、柔性的非线性动力学模型,利用多项式混沌法(PCE,polynomial chaos expansion)进行参数灵敏度分析和不确定性分析,并和蒙特卡洛方法比较,结果表明混沌多项式效率更高,最后基于动态精度多项式混沌展开进行可靠性分析得到动态精度可靠度。
The dynamic precision of the harmonic reducer is not only related to the manufacturing tolerances and assembly clearances of its various components, but also the effects of the harmonic reducer’s flexibility and friction. At present, the research on the precision of harmonic reducer mostly only considers a single factor, and does not consider the influence of the uncertainty of the model parameters on the accuracy when performing the accuracy analysis. In this paper, we consider the dynamic precision of harmonic reducer under the combined action of static factor (processing, assembly) and dynamic factor (flexibility and friction), establish the nonlinear dynamic model considering static error and flexibility, and use the polynomial chaos method (PCE , polynomial chaos expansion), and compared with the Monte Carlo method. The results show that the chaos polynomial is more efficient. Finally, the reliability of the dynamic accuracy is obtained by the reliability analysis based on the dynamic precision polynomial chaos expansion.