Flexible bearing is an important component of harmonic reducer which is widely used in automation equipment, especially in industrial robots. Studying its mechanical characteristics has great significance. In this article, the theoretical model of contact force between rolling elements and outer ring is established based on three bending moment equations, and the characteristics of CSF-40-80 flexible bearing are also studied by finite element method analysis. Analysis of equivalent stress at static state has shown that it already has large equivalent stress before load and that external load has a great influence on it. The dynamic and contact characteristics of it after actual assembly are also presented in this article. The displacements and velocities at different locations at different times of the movement are found to be different, which can provide a reference for the manufacture of flexible bearing.

中文翻译：

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谐波减速器柔性轴承静动态力学特性研究

柔性轴承是谐波减速器的重要部件，广泛应用于自动化设备，特别是工业机器人。研究其力学特性具有重要意义。本文基于三个弯矩方程建立了滚动体与外圈接触力的理论模型，并通过有限元方法分析了CSF-40-80柔性轴承的特性。静态等效应力分析表明，加载前已经具有较大的等效应力，外载荷对其影响较大。本文还介绍了它在实际装配后的动态和接触特性。发现在运动的不同时间不同位置的位移和速度是不同的，