分析了这种新型减速器的工作原理及结构特点，导出了内齿环板的受力公式。

This paper analyzed the working principle and structural characteristics of this new typed reducer, and derived the force acceptance formula of inner-toothed ring plates.

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在分析行星轮与内齿环各段啮合情况的基础上，建立了行星齿环换向机构中系杆的角速度和角加速度计算模型。

Based on the meshing analysis of planetary gear and inner gear-ring, the angular velocity and angular acceleration calculation model of the rod is established.

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在分析行星轮与内齿环各段啮合情况的基础上，建立了行星齿环换向机构中齿环滑块的速度和加速度计算模型。

Based on the meshing analysis of planetary gear and inner gear-ring, the velocity and acceleration calculation model of the slider is established.

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