中文摘要：

提出了一种具有低速大转矩特性的机电集成压电谐波传动系统，该传动系统利用活齿传动输出转矩。分析了机电集成压电谐波传动的工作原理，建立了活齿传动动力学模型，推导了其动力学微分方程，给出了活齿传动自由振动特征方程，求出了系统固有频率及振型，并分析了结构参数对固有频率的影响。研究结果为机电集成压电谐波传动系统的进一步优化提供了新的思路和方法。

英文摘要：

An electromechanlcal lntegrated harmonic plezoorlve system was proposed, which had the characteristics of low speed and high torque. The system output torque through oscillating teeth. The principles of the electromechanical integrated harmonic piezodrive system were discussed, the dy- namic models and dynamic equations were set up. Frequency equations of free vibration of oscillating ~ooth were given and the natural frequencies and vibration modes were solved, and the impacts of pa- rameters on natural frequencies were analyzed. These results provide basis for the improvement and the further research of the electromechanical integrated harmonic piezodrive system.