摆线针轮行星传动动态理论回转误差的计算与分析

Calculation of Dynamic Return Error of Cycloid Drives

对在动态受力状态下 ,一齿差和二齿差结构理论齿廓摆线轮和针齿 ,柱销和柱销孔受力所产生的变形进行了分析 ,计算出受力状态下回转误差的计算方法 ,推导出回转角的计算公式 ,为机器人用高精密摆线针轮行星传动的研究提供了一定的理论前提。

Having analyzed the deformation between the cycloid disk profile and pin and the deformation between the output pin and pinhole, the calculating method of dynamic return error under the transmitting force and the calculating formula of return error angle are given in the paper, which provide a theory basis for studying high accurate cycloid drives.