中文摘要：

在摆线钢球行星传动运动学基础上,确定减速啮合副与等速啮合副的啮合点接触状态,分别建立减速啮合副与等速啮合副摩擦力矩数学模型,并对摩擦力矩进行对比分析,然后研究不同参数对减速啮合副摩擦力矩产生的影响,最后实验测试样机在不同轴向力条件下摩擦力矩的变化规律。研究结果表明,减速啮合副啮合点存在宏观滑动情况,等速啮合副啮合点不存在滑动情况;减速啮合副摩擦力矩远大于等速啮合副摩擦力矩,机构摩擦力矩可由减速啮合副摩擦力矩代替;轴向预紧力和滚圆半径对摩擦力矩影响较大,载荷对机构的摩擦力矩影响较小;实验测试与理论计算结果具有较好一致性,能够证明理论计算模型的正确性。

英文摘要：

Based on the kinematics of cycloid steel ball planetary transmission, the contact state between the meshing pair and the speed reducer is determined. The mathematical model of the friction torque of the gear pair and the constant velocity pair is established. The friction torque is compared and analyzed. The influence of different parameters on the friction torque of the gear pair is studied, and the variation law of friction torque of the prototype under different axial force is tested. The results show that the meshing point of the gear pair has a macro sliding condition, and there is no sliding condition in the meshing point. The friction torque of the gear pair is much larger than that of the constant speed meshing pair. Therefore, the friction torque can be replaced by the friction torque of the gear pair. Influence of axial force and the radius of the friction torque is larger, and the load has little influence on the friction torque. The experimental results are in good agreement with the theoretical results, which proves the correctness of the theoretical model.