Research on Ultra-high Rotary Bending Fatigue Strength ofFlexible Bearing Steels for Robot Harmonic Speed Reducer

The flexible bearing steel with long fatigue life using for robot harmonic speed reducer has been successfully de⁃ veloped by applying EAF process technology. The ratio of scrap to hot metal was controlled more than 80%. This paper compared the metallurgical quality of flexible bearings and traditional rolling bearings in terms of non-metallic inclusions， austenite grain size and carbide banding structure， the fatigue strength of steel used for flexible bearing and traditional roll⁃ ing bearing under 107 cycles was tested by the method of rotary bending fatigue test. The O content of steel used for flexible bearings of robot harmonic reducer was less than 0. 000 4%， the Ti content was much less than 0. 001%， non-metal inclu⁃ sions of class A sulfide≤1. 0 grade， non-metal inclusions of class B and D oxide ≤0. 5 grade. The size of the maximum spherical inclusion was less than 30 μm. The test results show that the flexible bearings have ultra-high purity. By increas⁃ ing Al and N chemical composition in the smel