中文摘要：

面向机器人移动系统对高精度、高速及大行程传动装置的需求,针对次摆线滚轮齿条传动的齿形理论及啮合特性进行了综合研究。首先,依据次摆线生成原理,综合考虑滚柱-次摆线齿啮合规律,建立了次摆线理论齿形方程、实际齿形方程及齿形曲率方程、曲率半径方程;其次,基于次摆线齿形曲率半径变化规律,结合滚柱与摆线齿啮合过程分析,推导出齿廓不根切条件、压力角及传动重合度计算公式;最后,给出算例,通过三维建模与啮合仿真,验证了前述理论推导的正确性。研究结果表明,采用次摆线齿形,合理选择结构参数,可有效解决摆线滚轮齿条传动的齿廓根切问题,增大传动重合度。

英文摘要：

It is important to meet drive requirements of the high precision, high speed and long-stroke for roboticdriving system. An investigation on the theory of tooth profile and meshing characteristics of a new type of trochoidalroller pinion rack transmission was made in this paper. Firstly, based on forming principle of the trochoidal andmeshing rule, the theoretic and practical tooth profile equations were derived, and the changes of curvature andcurvature radius of the trochoidal tooth profile were analyzed. Then, according to the analysis and meshingprinciple, the undercut condition of practical tooth profile was concluded, and the calculating formulae of thepressure angle and contact ratio were established. Finally, an example was given, and the validity of theoreticaldeduction was proved by three-dimensional modeling and mesh simulation. The results show that, by choosing thetrochoidal tooth and reasonable structural parameters in design, the undercutting phenomenon was solved and thecontact ratio was increased.