Study of dynamic properties of composite and steel-composite flexsplines of harmonic drives

In the present study, as the structural material for toothed flexsplines of harmonic drives, a composite material based on an epoxy resin matrix reinforced with glass or carbon fibres was used. A preliminary numerical modal analysis of the material and structural solutions for the harmonic drive flexsplines assumed to be applied was conducted. This paper includes presentation of a simplified method used to determine torsional stiffness of a flexspline. With reference to the material and design solutions of flexsplines assumed to be analysed, values of their torsional angle were determined. Under the studies performed, geometrical models of flexsplines being manufactured for the HFUC and HFUS type harmonic drives were developed based on their actual structures and geometrical dimensions. The calculations prepared for the sake of the study by application of the finite element method (FEM) were conducted using the MSC Patran/Nastran and Femap/NX Nastran software.