Optimization Design of High Stable Flexspline for Harmonic Drive System

Harmonic drive (HD) systems benefit from their high transmission ratio and extremely low transmission error, therefore, they are widely applied to robotic and space sciences. High stable HD gains pupolarity in space drive mechanism. Flexspline plays an important role in HD, however, the high stable HD has a special flexspline different from the conventional one. The requirement of weight and volume is strict for space agencies, and hence it is necessary to optimize the structural dimensions of the special flexspline. This paper presents an optimization of the different flexspline by using response surface method. A finite element equivalent model of the flexspline was built. In addition, the optimized design points and response surface were provided to achieve an optimum flexspline, and Von-Mises stress sensitivity was obtained. Those lead to the conclusion that response surface method is effective when used to design the flexspline.