Design and research of an electric shoulder joint harmonic reducer for a moving and lifting exoskeleton robot

摘要

According to the operating conditions and load requirements of the lifting exoskeleton, a harmonic reducer with large reduction ratio and high torque output is designed in this paper (Xiang Guoqi, 2005). From the perspective of structural dynamics (Donghui et al., 2015, Zuguang et al., 2011), use ANSYS simulation software to study the motion intensity of the harmonic reducer and verify the reliability of the whole structure system; Secondly, the modal analysis of the whole machine was carried out and former sixth-order natural frequencies were extracted; Simulate and analyze the frequency-amplitude relationship of the whole machine structure system at low frequencies, and analyze possible resonance and vibration problems. Finally, take the key component flexspline as the research object, and extract former sixth-order natural frequencies; Simulate and analyze the frequency-amplitude relationship of the whole structure system at low frequencies to verify its motion performance.