Calculation and Analysis of Deformation Characteristic and Energy Dissipation of Flexible Bearings in Harmonic Drive for Industrial Robots

Abstract The flexible bearing is a key component of harmonic gear reducer for industrial robots. wave generator cam as assembly part will significantly affect the transmission state. This paper derives deformation coordination equation formula based on drive theories, and characteristics formed by different shapes were studied. Combined theory clabellon with load which are obtained, energy dissipation outer ring discussed quantitatively evaluated. results showed that have greater effect carrying capacity bearing, can be effectively reduced selecting appropriate wall thickness ring. Moreover, it was found two-roller least at same constraint.