PEEK 諧波減速器是將聚醚醚酮（PEEK）復(fù)合材料應(yīng)用于諧波傳動結(jié)構(gòu)的創(chuàng)新型精密減速裝置，兼具傳統(tǒng)諧波減速器的高減速比特性與 PEEK 材料的輕量化優(yōu)勢。以下從結(jié)構(gòu)特點、材料革新、性能參數(shù)及應(yīng)用領(lǐng)域四個維度為您詳細介紹：
一、結(jié)構(gòu)特點
采用波發(fā)生器 - 柔輪 - 剛輪的經(jīng)典諧波傳動結(jié)構(gòu)，核心創(chuàng)新在于柔輪采用 50% 長玻纖增強 PEEK 一體注塑成型，剛輪內(nèi)齒圈為 PEEK - 金屬鑲嵌結(jié)構(gòu)（鋼制基體 + PEEK 齒面）。波發(fā)生器軸承外圈集成 PEEK 自潤滑保持架，消除傳統(tǒng)諧波減速器對潤滑脂的依賴。整體結(jié)構(gòu)通過拓撲優(yōu)化設(shè)計，柔輪壁厚公差控制在 ±0.01mm，確保嚙合時的彈性變形一致性。
二、材料革新
輕量化突破：PEEK 柔輪密度僅 1.5g/cm³，較鋼制柔輪減重 60%，慣性矩降低 45%，顯著提升機器人關(guān)節(jié)動態(tài)響應(yīng)速度；
耐疲勞性能：通過纖維取向優(yōu)化，PEEK 柔輪的彎曲疲勞壽命達 10?次循環(huán)（額定載荷下），接近鋼制水平的 85%；
摩擦學(xué)優(yōu)化：PEEK 齒面摩擦系數(shù)低至 0.05（干摩擦條件），配合剛輪齒面的 PTFE 涂層，實現(xiàn)無油工況下的靜音運行（噪音≤55dB）。
三、核心性能參數(shù)
減速比范圍：50:1~320:1（單級傳動），支持多級串聯(lián)實現(xiàn) 10000:1 超高減速比
額定扭矩：3~50N?m（對應(yīng)型號 HX-14~HX-50），峰值扭矩可達額定值的 2 倍
精度指標(biāo)：回程間隙≤1 角分，傳動誤差≤30 角秒，扭轉(zhuǎn)剛度≥20N?m/rad
環(huán)境適應(yīng)性：工作溫度 - 40℃~180℃，真空環(huán)境兼容（10??Pa 下可穩(wěn)定運行）
四、典型應(yīng)用領(lǐng)域
協(xié)作機器人：末端執(zhí)行器腕部關(guān)節(jié)，如 UR5e 機器人的第六軸，實現(xiàn)輕量化與高精度抓取
醫(yī)療設(shè)備：手術(shù)機器人機械臂（如達芬奇 Xi）的微小動作關(guān)節(jié)，需滿足無菌環(huán)境與低電磁干擾
航空航天：衛(wèi)星姿態(tài)控制機構(gòu)、無人機機械臂，利用其真空適應(yīng)性與輕量化特性降低發(fā)射成本

諧波減速器：采用碳纖維增強 PEEK（CF/PEEK）制造諧波減速器，可使其變形應(yīng)力僅為鋼材的 1/7，還能增強阻尼特性，減少共振風(fēng)險。其柔輪與剛輪齒的接觸齒數(shù)可提升 47%，疲勞壽命能顯著延長，循環(huán)次數(shù)可從金屬柔輪的 2.9 萬次，增至 56.4 萬次
諧波減速器：CF/PEEK制備性能更優(yōu)
除比強度、耐磨性等優(yōu)勢外，相較金屬基短筒諧波減速器，采用CF/PEEK 制備的諧波減速器。 具備：①變形應(yīng)力程度低， ②阻尼特性好、能有效降低發(fā)生共振的可能性，③柔輪與剛輪齒的接觸齒數(shù)以及嚙合面積增加，提升諧波減速器的承載和抗沖擊能力，④疲勞壽命更優(yōu)等特點。
（1） 較金屬基短筒諧波減速器，相同負載下 PEEK 基復(fù)合材料的變形應(yīng)力僅為鋼材的 1/7，因此設(shè)計結(jié)構(gòu)在較小軸向尺寸的情況下，仍能選擇較大的輪齒模數(shù)及徑向變形系數(shù)，結(jié)構(gòu)設(shè)計更加自由；
（2） PEEK 基復(fù)合材料諧波減速器整機各階固有頻率較金屬基提升 40-45%，表明 PEEK 基復(fù)合材料諧波減速器具有更好的阻尼特性，能有效降低發(fā)生共振的可能性。
（3） 在負載 20N·m、轉(zhuǎn)速 2000rad/min 的額定工況下，PEEK 復(fù)合材料諧波減速器參與嚙合的齒數(shù)變多，接觸齒數(shù)達52 對，較金屬提升 47%。柔輪與剛輪齒的接觸齒數(shù)以及嚙合面積增加，可增大了齒輪副的嚙合區(qū)域，接觸壓力分布在更多輪齒表面上，可提升諧波減速器的承載和抗沖擊能力。
（4） 相同結(jié)構(gòu)下的 CF/PEEK 短筒諧波減速器具有更好的疲勞壽命，傳統(tǒng)金屬制諧波減速器變形應(yīng)力過大，在循環(huán)周期次數(shù)達 2.9 萬次時，柔輪輪齒處遭遇靜力破壞。采用 PEEK 復(fù)合材料制造的柔輪，預(yù)計可循環(huán)次數(shù)達 56.4 萬次，疲勞壽命達 939.5h。


PEEK harmonic reducers are innovative precision reduction devices that apply polyetheretherketone (PEEK) composite materials to the harmonic drive structure, combining the high reduction ratio characteristics of traditional harmonic reducers with the lightweight advantages of PEEK materials. The following is a detailed introduction from four dimensions: structural features, material innovation, performance parameters, and application fields:

I. Structural Features
PEEK harmonic reducers adopts the classic harmonic drive structure of wave generator - flexible gear - rigid gear. harmonic reducers core innovation lies in the use of 50% long glass fiber reinforced PEEK for the one-piece injection molding of the flexible gear, and the inner gear ring of the rigid gear is a PEEK-metal insert structure (steel base + PEEK tooth surface). The outer ring of the wave generator bearing is integrated with a PEEK self-lubricating cage, eliminating the dependence on grease in traditional harmonic reducers. The overall structure is designed through topology optimization, with the wall thickness tolerance of the flexible gear controlled within ±0.01mm to ensure consistent elastic deformation during meshing.

II. Material Innovation
Lightweight breakthrough: The density of the PEEK flexible gear is only 1.5g/cm³, reducing the weight by 60% compared to a steel flexible gear and lowering the moment of inertia by 45%, significantly enhancing the dynamic response speed of robot joints.
Fatigue resistance: Through fiber orientation optimization, the bending fatigue life of the PEEK flexible gear reaches 10? cycles (under rated load), approaching 85% of the steel level.
Friction optimization: The friction coefficient of the PEEK tooth surface is as low as 0.05 (dry friction condition), and when combined with the PTFE coating on the rigid gear tooth surface, it enables silent operation without oil (noise ≤ 55dB).

III. Core Performance Parameters
Reduction ratio range: 50:1 to 320:1 (single-stage transmission), supporting multi-stage series connection to achieve an ultra-high reduction ratio of 10,000:1
Rated torque: 3 to 50 N?m (corresponding models HX-14 to HX-50), peak torque can reach twice the rated value
Accuracy indicators: Backlash ≤ 1 minute, transmission error ≤ 30 arc seconds, torsional stiffness ≥ 20 N?m/rad
Environmental adaptability: Operating temperature -40℃ to 180℃, compatible with vacuum environments (can operate stably at 10??Pa)

IV. Typical Application Fields
Collaborative robots: Wrist joints of end effectors, such as the sixth axis of the UR5e robot, achieving lightweight and high-precision grasping
Medical equipment: Small motion joints of surgical robot arms (such as the Da Vinci Xi), requiring compliance with aseptic environments and low electromagnetic interference
Aerospace: Satellite attitude control mechanisms, drone mechanical arms, utilizing its vacuum adaptability and lightweight characteristics to reduce launch costs.
PEEK harmonic reducers: The use of carbon fiber reinforced PEEK (CF/PEEK) to manufacture harmonic reducers can reduce the deformation stress to only 1/7 of that of steel, enhance damping characteristics, and reduce the risk of resonance. The number of contact teeth between the flexible gear and the rigid gear teeth can be increased by 47%, significantly extending the fatigue life, with the cycle count increasing from 29,000 times for metal flexible gears to 564,000 times.
PEEK harmonic reducers: CF/PEEK offers superior performance
In addition to advantages such as specific strength and wear resistance, compared to metal-based short-cylinder PEEK harmonic reducers, PEEK harmonic reducers made from CF/PEEK have the following features: ① lower deformation stress, ② better damping characteristics, effectively reducing the possibility of resonance, ③ increased number of contact teeth and meshing area between the flexible gear and the rigid gear teeth, enhancing the load-bearing and impact resistance of the harmonic reducer, ④ superior fatigue life, etc.
(1) Compared to metal-based short-cylinder harmonic reducers, under the same load, the deformation stress of PEEK-based composite materials is only 1/7 of that of steel. Therefore, in a smaller axial dimension, a larger gear module and radial deformation coefficient can be selected for the design structure, providing greater design freedom.
(2) The natural frequencies of the entire PEEK-based composite material harmonic reducer are 40-45% higher than those of metal-based ones, indicating that PEEK-based composite material harmonic reducers have better damping characteristics and can effectively reduce the possibility of resonance.
(3) Under the rated operating conditions of a load of 20 N·m and a speed of 2000 rad/min, the number of meshing teeth in the PEEK composite material harmonic reducer increases, reaching 52 pairs, a 47% increase over metal. The increase in the number of contact teeth and meshing area between the flexible gear and the rigid gear teeth enlarges the meshing area of the gear pair, and the contact pressure is distributed over more gear teeth surfaces, enhancing the load-bearing and impact resistance of the harmonic reducer.
(4) Under the same structure, CF/PEEK short-cylinder harmonic reducers have better fatigue life. Traditional metal harmonic reducers have excessive deformation stress, and the flexible gear teeth suffer static failure when the cycle count reaches 29,000 times. The flexible gear made from PEEK composite materials is expected to have a cycle count of 564,000 times and a fatigue life of 939.5 hours.