Abstract: Harmonic gear reducer is a new kind of transmission device with compact structure and complicated motion transfer process. Aiming to understand harmonic gear reducer intuitionally, a geometric model is established according to the example of movable roller harmonic gear reducer which attracts little attention. Several key parameters are optimized by numeric calculation. According to the geometric model and optimization result, a solid model is developed in ADAMS. Simulation taking two instances of constant and sinusoidal speed command into account is done in ADAMS. The numeric simulation result is coincident with the geometric model and reflects the transmission characteristics of harmonic gear reducer vividly. The study lays a foundation for modeling of transmission system containing harmonic gear reducer.

Key words: computer simulation, ADAMS simulation model, numeric calculation, movable roller harmonic gear reducer