机电集成； 超环面传动；定子加工； 环面蜗杆加工；曲线梁；最小能量法；效率。
Electromechanical integrated; Toroidal drive; Manufacture of the stator; Manufacture of the toroidal worm; Curved beam; Minimum energy method; Efficiency.
给出了曲线曲面光顺的准则和方法，并着重探讨了最小能量法数学模型的建立及其应用。
The rules and methods for curve and surface smooth fitting are given. Especially we study for the mathematics model and application with the minimum energy method.
采用曲线的能量最小原理，可以求出每个控制顶点的扰动量，给每个控制顶点赋予一个权重，以调节扰动量的大小。
The perturbations of each control point can be obtained minimizing the energy function. The weights of control points are applied to adjust the perturbation.
采用曲线的能量最小原理，可以求出每个控制顶点的扰动量，给每个控制顶点赋予一个权重，以调节扰动量的大小。
The perturbations of each control point can be obtained minimizing the energy function. The weights of control points are applied to adjust the perturbation.
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