中文摘要：

为揭示环板式减速器的受力状况，建立了该类传动的弹性动态静力学模型。模型中计入了高速轴、环板、齿轮副、轴承的弹性变形以及支承轴的附加转角等诸多影响因素，并采用力-位移混合法构造了相应的变形协调条件，最终建立了环板式减速器的弹性动态静力学方程。通过求解系统的动态静力学方程，获得了系统中各关键零部件的受力和变形，其求解结果与有限元分析结果的相对误差不超过8％，表明所建的动态静力模型具有较好的分析精度。

英文摘要：

To obtain actual loading state of the components, a representative MRGR, named three --ring gear reducer featuring a phase--angle difference of 120 degrees, was investigated in details. Key influences were taken into account including the elasticity of high--speed shafts, gear--couplers, meshing teeth and bearings, and additional rotation angle of the supporting shaft. The compatibility conditions of elastic deformations were derived by means of the so--called force--displacement hybrid method. Finally, the elasto-- quasi-- statics equation of the over--constrained mechanism was developed. By solving the governing elasto-- quasi--static equations of the system, the loads and deformations of main parts can be obtained. The comparison between the simulation results and FEA results validates the high precision of the model discussed herein.