Abstract: In order to accurately detect the performance index of harmonic reducer, according to the requirements of GB/T30819-2014, the torsional deformation was detected by AC servo electric loading, and the torsional stiffness was calculated according to the difference between the output load and the theoretical load. The relationship between starting torque and speed was established, the power under different loads was tested and analyzed, and the power and efficiency curves were obtained. Angle and gap sensor were used to measure the angle and gap signal, and the transmission error was calculated. The key parameters such as torsional stiffness, starting torque, idle distance and transmission error were tested. Finally the comprehensive test system of harmonic reducer was completed. The harmonic reducer of RV320E was taken as the test object, and the test was carried out on the test system developed in this paper. The experimental results show that the idle range is 0.476′(± 3% of the rated torque), the spring coefficient is 424.972 N·m/′, the reducer accuracy is 0.930 3″, the starting torque is 0.95 N·m, load efficiency is between 70%~90%, transmission error is 27.26″. Comparing with the test data of the manufacturer, the error is within 3.1% which proves the effectiveness of the development of the test system.

Key words: harmonic reducer; test system; torsional stiffness; transmission error