中文摘要：

提出了一种机电集成压电谐波传动系统，分析了系统的工作机理。为了更准确地描述传动中活齿系统动力学行为，在动力学模型中引入了啮合刚度激励，建立了啮合刚度激励方程，推导了考虑啮合激励时活齿系统动力学响应方程。以传动比为30的活齿系统为例，求解了系统在啮合激励作用下的时域和频域响应；分析了参数对频域响应的影响。结果表明活齿半径、波发生器偏心距和波发生器半径对共振频率影响较大，波发生器偏心距和波发生器半径对振幅影响显著。

英文摘要：

An electromechanical integrated harmonic piezodrive system is proposed, and the principle of the drive is discussed,In or- der to precisely describe the dynamic behavior of the movable tooth system precisely, a meshing incentive is brought into the dynam- ic model.The meshing incentive equations are established, the system dynamic response equations by considering meshing incentive are derived.In order to solve the force responses, the system＇s transmission ratio of 30 is illustrated.In addition, the time domain re-sponses and the frequency domain responses under meshing incentive are settled, and the influences of the parameters on the fre- quency domain response are analyzed.The results show that the radius of oscillating tooth has a great influence on the resonant fre- quencies, the radius and eccentric distance of wave generator influence both resonant frequencies and amplitude observably.