1 序言作为产业用机器人和一般产业机械,提出了各种形式的齿轮减速机。当今人们普遍重视 DD(高速传动)电机,但因为使用齿轮减速机,才能采用高的电机转速和动力,并能使动力传递系统设计得小一些。因此,这一特点被沿用至今。当把减速机装入实际机械系统时,要考虑减速机的价格、重量、内部结构、减速比及其动特性来 1 Introduction As industrial robots and general industrial machinery, put forward various forms of gear reducer. Today, people generally pay attention to DD (high speed drive) motors, but because of the use of gear reducer, can use high motor speed and power, and make the power transmission system designed to be smaller. Therefore, this feature is still in use today. When the reducer into the actual mechanical system, we must consider the reducer price, weight, internal structure, reduction ratio and its dynamic characteristics to