研究了机电集成超环面传动的驱动机理，建立了该传动的空间力学模型，分析了行星轮在环面蜗杆和环面定子处的受力情况，推导出了行星架输出力矩的计算公式。
The spatial force model of the drive is presented. Forces between planet and worm or stator are analyzed. The formula of the output torque for the drive is given.
研究了机电集成超环面传动的驱动机理，建立了该传动的空间力学模型，分析了行星轮在环面蜗杆和环面定子处的受力情况，推导出了行星架输出力矩的计算公式。
The spatial force model of the drive is presented. Forces between planet and worm or stator are analyzed. The formula of the output torque for the drive is given.
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