Non-Linear Dynamic Modeling and Experiment of Harmonic Gear Drive

A non-linear torsional vibration model of harmonic gear drive is proposed in the current study. The model includes clearance, nonlinearity torsional stiffness and nonlinearity damping. The clearance model is developed by introducing the piecewise-linear displacement functions. The function of nonlinearity torsional stiffness is obtained by torsional stiffness experimental. The model of nonlinearity damping is used to describe the process of transmission. The non-linear differential equations are solved using Runge-Kutta method. The numerical simulation results show that the influence of nonlinear factors on dynamic behavior, which has chaotic characteristics, is remarkable.