Harmonic reduction gear is a commonly used reduction mechanism in robots, which can convert the high-speed, low-torque motor output into low-speed, high-torque output, thus meeting the precision and power requirements of robots. This article will elaborate on the principles, advantages, and applications of harmonic reduction gears in robots.
A harmonic reduction gear is a very precise mechanical device. Its main components include the driving wheel, the harmonic wheel, the flexible wheel, and the output wheel. Among them, the driving wheel is connected to the harmonic wheel, the center of the harmonic wheel is fitted with a flexible wheel, and the flexible wheel is connected to the output wheel. When the driving wheel drives the harmonic wheel to rotate, the elastic deformation of the flexible wheel causes the output wheel to rotate, thereby achieving the deceleration effect.
The working principle of the harmonic reduction gear is to utilize the principle of harmonic vibration, converting driving force into output force through the deformation of the flexible wheel. Specifically, the harmonic wheel of the harmonic reduction gear has many protruding gears, while the flexible wheel has a corresponding number of grooves. When the driving wheel drives the harmonic wheel to rotate, the protruding gears compress the flexible wheel, causing it to deform.
As the harmonic wheel continues to rotate, the flexible wheel restores its original shape, at which point the gears enter the next groove, repeating the above process. Through such deformation and restoration, the harmonic reduction gear can convert the high-speed, low-torque output of the driving wheel into low-speed, high-torque output.
High Precision: The working principle of the harmonic reduction gear is to utilize the principle of harmonic vibration, converting driving force into output force through the deformation of the flexible wheel, so its precision is very high, usually reaching below 0.1 degrees.
High Torque Density: The output wheel of the harmonic reduction gear is directly connected to the flexible wheel, without the need for an intermediate shaft to transmit power, thus having a high torque density, which can meet the high power requirements of robots.
Ultra-compact Size: The harmonic reduction gear has a compact structure, small size, and light weight, making it easy to install in critical parts of the robot, improving the flexibility and precision of the robot.
High Reliability: The harmonic reduction gear design is simple, with almost no friction and wear, having a long life, and operating stably and reliably.
Harmonic reduction gears are widely used in robots, with the most typical example being the joint transmission of robotic arms. Robotic arms are an important part of industrial robots, consisting of multiple joints, requiring precise control and high torque output.
Harmonic reduction gears can meet the high precision and high torque requirements of robotic arms, while being small in size and light in weight, allowing for easy installation in the key parts of robotic arms, thus improving the flexibility and precision of robotic arms. Harmonic reduction gears can also be applied in the navigation and motion control systems of robots.
The navigation and motion control systems of robots require high precision and high-speed control, and harmonic reduction gears can provide accurate output signals, helping robots achieve precise motion control and navigation.
