本文从滚动轴承寿命公式的基本前提出发，推导出了谐波齿轮传动中柔性轴承的寿命计算公式。
Going on the basic premise of the life formula for common bearings, the author deduces the life formula for the flexible bearings used in harmonic gear transmission.
针对带刚性连接挠性接头、以柔性行星齿轮驱动的工业机械臂，提出了一种新的建模和计算方法。
In view of the rigid link flexible joint, the industry mechanical arm which actuates by the flexible planet gear, this paper proposed one kind of new modeling and the computational method.
研制了基于球齿轮传动的机器人柔性手腕机构。
We develop the flexible wrist of robot based on spherical gear's drive.
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