PEEK 谐波减速器是将聚醚醚酮（PEEK）复合材料应用于谐波传动结构的创新型精密减速装置，兼具传统谐波减速器的高减速比特性与 PEEK 材料的轻量化优势。以下从结构特点、材料革新、性能参数及应用领域四个维度为您详细介绍：
一、结构特点
采用波发生器 - 柔轮 - 刚轮的经典谐波传动结构，核心创新在于柔轮采用 50% 长玻纤增强 PEEK 一体注塑成型，刚轮内齿圈为 PEEK - 金属镶嵌结构（钢制基体 + PEEK 齿面）。波发生器轴承外圈集成 PEEK 自润滑保持架，消除传统谐波减速器对润滑脂的依赖。整体结构通过拓扑优化设计，柔轮壁厚公差控制在 ±0.01mm，确保啮合时的弹性变形一致性。
二、材料革新
轻量化突破：PEEK 柔轮密度仅 1.5g/cm³，较钢制柔轮减重 60%，惯性矩降低 45%，显著提升机器人关节动态响应速度；
耐疲劳性能：通过纤维取向优化，PEEK 柔轮的弯曲疲劳寿命达 10⁸次循环（额定载荷下），接近钢制水平的 85%；
摩擦学优化：PEEK 齿面摩擦系数低至 0.05（干摩擦条件），配合刚轮齿面的 PTFE 涂层，实现无油工况下的静音运行（噪音≤55dB）。
三、核心性能参数
减速比范围：50:1~320:1（单级传动），支持多级串联实现 10000:1 超高减速比
额定扭矩：3~50N・m（对应型号 HX-14~HX-50），峰值扭矩可达额定值的 2 倍
精度指标：回程间隙≤1 角分，传动误差≤30 角秒，扭转刚度≥20N・m/rad
环境适应性：工作温度 - 40℃~180℃，真空环境兼容（10⁻⁶Pa 下可稳定运行）
四、典型应用领域
协作机器人：末端执行器腕部关节，如 UR5e 机器人的第六轴，实现轻量化与高精度抓取
医疗设备：手术机器人机械臂（如达芬奇 Xi）的微小动作关节，需满足无菌环境与低电磁干扰
航空航天：卫星姿态控制机构、无人机机械臂，利用其真空适应性与轻量化特性降低发射成本

谐波减速器：采用碳纤维增强 PEEK（CF/PEEK）制造谐波减速器，可使其变形应力仅为钢材的 1/7，还能增强阻尼特性，减少共振风险。其柔轮与刚轮齿的接触齿数可提升 47%，疲劳寿命能显著延长，循环次数可从金属柔轮的 2.9 万次，增至 56.4 万次
谐波减速器：CF/PEEK制备性能更优
除比强度、耐磨性等优势外，相较金属基短筒谐波减速器，采用CF/PEEK 制备的谐波减速器。 具备：①变形应力程度低， ②阻尼特性好、能有效降低发生共振的可能性，③柔轮与刚轮齿的接触齿数以及啮合面积增加，提升谐波减速器的承载和抗冲击能力，④疲劳寿命更优等特点。
（1） 较金属基短筒谐波减速器，相同负载下 PEEK 基复合材料的变形应力仅为钢材的 1/7，因此设计结构在较小轴向尺寸的情况下，仍能选择较大的轮齿模数及径向变形系数，结构设计更加自由；
（2） PEEK 基复合材料谐波减速器整机各阶固有频率较金属基提升 40-45%，表明 PEEK 基复合材料谐波减速器具有更好的阻尼特性，能有效降低发生共振的可能性。
（3） 在负载 20N·m、转速 2000rad/min 的额定工况下，PEEK 复合材料谐波减速器参与啮合的齿数变多，接触齿数达52 对，较金属提升 47%。柔轮与刚轮齿的接触齿数以及啮合面积增加，可增大了齿轮副的啮合区域，接触压力分布在更多轮齿表面上，可提升谐波减速器的承载和抗冲击能力。
（4） 相同结构下的 CF/PEEK 短筒谐波减速器具有更好的疲劳寿命，传统金属制谐波减速器变形应力过大，在循环周期次数达 2.9 万次时，柔轮轮齿处遭遇静力破坏。采用 PEEK 复合材料制造的柔轮，预计可循环次数达 56.4 万次，疲劳寿命达 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 10⁸ 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 10⁻⁶Pa)

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.