Deformation and stress analysis of short flexspline in the harmonic drive system with load

A detailed surface to surface contact finite element model of harmonic drive system is established in this paper to reveal the stress and deformation states of short flexspline. The boundary condition of the gear teeth meshing is evaluated by experimental formula. The stress and deformation of flexspline are solved and their relationships with varying loads are analyzed. It is found that the deformation and stress at the flexspline gear cross section change geometrically with heightened load, but the distributions of the deformation and stress increments remain unchanged. The solution results are compatible with the cases of flexspline destruction and axial stress distribution under load. This approach can help to optimize the structure and manufacturing process of harmonic reducer and increase the reliability of related automation equipment.