Analysis of Dynamic Transmission Error of Harmonic Reducer

Dynamic transmission error is an important index of the quality of harmonic gear transmission device, and can also provide a basis for further improving the design and processing of harmonic reducer, so the study of transmission error has important theoretical significance and engineering value. In order to determine the factors affecting the precision of harmonic gear transmission, starting with the working principle of harmonic gear reducer, analyze its transmission process and establish its dynamics model with Euler Lagrange method, and solve its dynamics equation with MATLAB, and then analyze the influence of dynamic parameters on the dynamic transmission error of harmonic gear reducer. At the same time, the sobol global sensitivity analysis of some dynamic parameters is carried out to study the influence of different dynamic parameters on dynamic transmission error.