Calculation method for the harmonic drive fault characteristic frequency

JIA Yunzhao1, XU Minqiang1, CHENG Yao2, LI Yuqing1, WANG Rixin1, QIN Chunyun3

Journal of Vibration and Shock ›› 2025, Vol. 44 ›› Issue (2) : 279-291.

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Journal of Vibration and Shock ›› 2025, Vol. 44 ›› Issue (2) : 279-291.
FAULT DIAGNOSIS ANALYSIS

Calculation method for the harmonic drive fault characteristic frequency

  • JIA Yunzhao1, XU Minqiang1, CHENG Yao2, LI Yuqing*1, WANG Rixin1, QIN Chunyun3
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Abstract

Harmonic drive is a transmission mechanism that relies on controllable deformation produced by flexible components, which are subjected to continuous alternating stress. As a result, the risk of failure is significantly higher than that of conventional transmission mechanisms. Changes on the fault location, kinematic relationship, and bearing area may cause interval distribution and periodic transformation of fault characteristic frequency. The running of harmonic drive based on the close coordination of several rotational components in narrow space, the transmission of single fault may cause the appearance of fault characteristics of multiple faults, the fault location is difficult. Therefore, an equivalent method is proposed to clarify the time-varying patterns of flexible bearing fault frequency by equating the kinematic relationship of continuous transient with that of conventional bearing. The calculation procedure of fault characteristic frequency for circular spline, flex-spline, flexible bearing, and cross roller bearing is presented. A fault simulation experiment is conducted to validate the theoretical analysis, fault characteristics for multiple faults are provided. The results show that the experiment results are consistent with the theoretical analysis, and the fault characteristic frequency can be obtained based on the proposed method.

Key words

harmonic drive / flexible bearing / fault diagnosis / fault characteristic frequency

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JIA Yunzhao1, XU Minqiang1, CHENG Yao2, LI Yuqing1, WANG Rixin1, QIN Chunyun3. Calculation method for the harmonic drive fault characteristic frequency[J]. Journal of Vibration and Shock, 2025, 44(2): 279-291

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