推导了机电集成超环面传动的力矩传递函数，得到了考虑力矩波动的实际力矩响应规律。
The torque transfer function of electromechanical integrated toroidal drive is developed, and the practical torque responses with fluctuation are obtained.
针对提出的新型机电集成超环面传动，建立了机电耦合动力学模型，推导了速度传递函数。
We establish the electromechanical-coupled dynamic model of a novel electromechanical integrating toroidal drive and derive its speed transfer function.
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.
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.
本文研究了一种新型行星传动——滚锥齿超环面行星蜗杆传动。
The paper researches a new type mechanical transmission mechanism-the Rolling cone-type toroidal drive.
给出了超环面行星蜗杆传动啮合效率、齿面磨损量和弹流油膜厚度的分布规律及其随传动参数的变化规律。
The distribution of engaging efficiency, EHD oil film thickness and tooth face wear and their changes along with transmission parameters are presented.
本文针对圆柱齿超环面行星蜗杆传动进行了深入的研究，主要完成了以下工作。
The cylindrical teeth-type toroidal drive is studied systematically in this paper, and the main work is also completed as following.
本文针对圆柱齿超环面行星蜗杆传动进行了深入的研究，主要完成了以下工作。
The cylindrical teeth-type toroidal drive is studied systematically in this paper, and the main work is also completed as following.
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