The study of the dynamic properties of some structural components of harmonic drive

The paper presents the geometric models of flexsplines and wave generators developed based on the actual construction and geometric dimensions of manufactured harmonic drives (type CSD, CSG, HFUS and HFUC). In order to enhance the data preparation process, the model geometry was recorded in a parametrical form. By altering the individual properties of the models, it is possible to automatically generate finite element grids for flexsplines and wave generators of various geometrical and structural properties. The calculations prepared for the sake of the study by application of the finite element method (FEM) were conducted using the Femap/NX Nastran software. A preliminary numerical modal analysis of the structural solutions for the harmonic driver flexsplines and wave generators assumed to be applied was conducted.