Author(s)

Runjie Li ¹, Junhua Bao ¹

Affiliation(s)

¹ Dalian Jiaotong University, Dalian, Liaoning, China

Corresponding Author

Junhua Bao

ABSTRACT

To clarify the effect of flexible bearing support on the dynamic transmission error of harmonic reducers, this study established a multibody dynamic model incorporating the flexible bearing support path and used a cam-direct support model as the simplified comparator. The model was developed through APDL parametric modeling and RecurDyn dynamic simulation, and the input and output angular displacement responses were extracted under multiple input speeds and output loads. For the angular displacement data in the steady-state window, the detrended dynamic transmission error TE^* was further defined by linearly fitting the input and output angular displacements, and TE^*_RMS, TE^*_P-P, and the output-speed fluctuation coefficient were used to evaluate the dynamic transmission performance. The results show that the flexible bearing support model produces a stronger periodic dynamic error response under medium and high loads. In contrast, the cam-direct support model weakens the error amplification induced by the flexible support path. These findings provide a basis for wave-generator support modeling, simplified-model selection, and multi-condition dynamic performance evaluation of harmonic reducers.

KEYWORDS

Harmonic reducer, flexible bearing, detrended dynamic transmission error, multibody dynamics, frequency-domain analysis

CITE THIS PAPER

Runjie Li, Junhua Bao. Multi-Condition Dynamic Transmission Error and Applicability Boundaries of a Simplified Model for Harmonic Reducers with Flexible Bearing Support. Journal of Engineering Mechanics and Machinery (2026). Vol. 11, No. 2, 34-45. DOI: http://dx.doi.org/10.23977/jemm.2026.110204.

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