中文摘要：

变桨距减速器是采用摆线针轮传动的二级传动机构，并且每级摆线轮均采用二齿差齿形。基于Pro／E和ADAMS软件建立了变桨距用减速器刚柔耦合模型，模型中柔性体采用模态缩减法进行建模，对该刚柔耦合模型进行了动力学仿真，得到了摆线轮与针齿之间的接触力、摆线轮与柱销之间的接触力以及转臂轴承的受力曲线，并对仿真结果进行分析，为进一步优化设计变桨距减速器提供了依据。

英文摘要：

The variable pitch reducer is secondary transmission mechanism which uses the pin--cycloid drive, and every pin--cycloid are two teeth difference tooth profile. Based on the ADAMS and Pro/E soft- ware,a variable pitch reducer coupled rigid--flexible model is created, the modal reduction method is used in the model flexible modeling, the rigid-- flexible coupling model dynamics simulation is carried out by using ADAMS software, the meshing force between the cycloid and the needle teeth, the contact force between cy- cloid wheel and pin and force curve of arm bearing are obtained, the simulation results is analyzed, and a basis for further optimization of the design variable pitch reducer is provide＆