Design and Application of Harmonic Gear Drive in Robot Joints

The quest for enhanced precision and compact design in robotics has led to significant innovations in gear drive technology. This article explores the development of a harmonic gear drive tailored for robotic joints, focusing on the intricate design, simulation, and application processes. Through comprehensive analysis, the study reveals new meshing parameters and flexspline dimensions, delivers advanced 3D finite element models for stress assessment, and provides insight into the torsional stiffness behavior of harmonic reducers. The research culminates in rigorous testing protocols, validating the design against stringent performance metrics and highlighting its suitability for precision-critical robotic functions.