中文摘要：

针对少齿差行星减速器核心部件金属齿轮副变形补偿性较差等问题，设计吸振、变形补偿性较好的金属橡胶复合齿轮副，运用刚柔耦合多体动力学对复合齿轮副和金属齿轮副的振动进行仿真分析，并用试验的方法对两齿轮副在不同工况下的振动特性进行研究．仿真及试验结果表明，金属橡胶材料的加入改善了复合齿轮副的振动特性，复合齿轮副在啮合力、角加速度、传动效率和振动加速度方面要明显优于金属齿轮副，同时复合齿轮副传动平稳性得到了较大提升，仿真结果和试验结果基本吻合．

英文摘要：

For a metal gear pair in the core parts of planetary reducer with few teeth difference, the problems of poor deformation compensation can be solved by designing a metal rubber complex gear pair, which reduces the vibration and achieves deformation compensation. The simulation analysis with rigid flexible coupling multi-body dynamics was used to verify the vibration of the metal rubber complex gear and metal gear pair. The vibration characteristics of these two gear pairs under different operating condi- tions were also studied by the experimental method. The results of simulation and experiment show that the vibration characteristics of the complex gear pair are improved by the addition of the metal rubber ma- terial, and the complex gear pair is obviously superior to the metal gear pair in meshing force, angular ac- celeration, transmission efficiency and vibration acceleration. The transmission stability of the complex gear pair is also greatly improved. Moreover, the simulation results are consistent with the experimental ones.