@techreport{oai:jaxa.repo.nii.ac.jp:00005992,
 author = {小原, 新吾 and Obara, Shingo},
 month = {Nov},
 note = {To investigate the lubrication mechanism of Harmonic Drive Gears (HDG), measurement of contact electric resistance among its three main parts, Wave Generator (WG), Flexspline (FS) and Circular Spline (CS), was conducted. In addition, a mixed lubrication analysis on the interface between WG and WS was also carried out. For the contact electric resistance measurement, the HDG was operated in vacuum and in air varying the input rotational speed and the load torque as a parameter. Test results showed that in all the contacting interfaces the contact electric resistance measured in vacuum was lower than that measured in air. In particular, the lubricating condition at the WG/FS interface was drastically changed depending on the test environment. For the mixed lubrication analysis, the analytical model was constructed using the FEM model of the WG and FS and the mixed lubrication model combined with the pressure-compliance equation of roughness contact developed by Greenwood and Williamson and the average Reynolds equation by Patir and Cheng. The lubricant film thickness, the hydrodynamic and asperity contact pressures and the lubricant flow vectors were calculated., 資料番号: AA0049500008, レポート番号: JAXA-SP-06-006},
 title = {ハーモニックドライブの潤滑機構解析},
 year = {2006}
}