柔性传动行星轮差速机构的设计

提出了柔性传动行化差速机构传动形式，在分析结构和工作原理的基础上介绍了该机构的特点。并对机构进行了运动学分析，得出了传动比的综合计算公式。通过对机构模型实际运动速度的测试，证明其结果与理论推导完全一致；表明该设计符合行星传动的运动规律，能够实现差速运动。通过讨论机构传动的约束条件和使用方法，为机构的产品开发和应用奠定了基础。

Design of Differential Planet Wheel Mechanism of a Flexible Transmission

A new kind of flexible transmission differential planet wheel mechanism is presented in this paper. First of all, based on analyzing the structure and working principle of this mechanism unit,the advantages are introduced. Furthermore, the equation of the transmission ratio is derived by analyzing the kinematics. It is proved that the calculation results according to the equation coincide very well with the tested results so that the design of the mechanism is reliable and accurate. Finally,discussion on the constraint conditions and its usage lay a foundation for the product development and its application.