機器人關節用擺線包絡精密減速器的工作原理是什麼？

 機器人關節用擺線包絡精密減速器，主要基於擺線針輪傳動原理來工作。

 該減速器關鍵部件包括輸入軸、擺線輪、針zhen齒chi殼ke以yi及ji輸shu出chu軸zhou。運yun作zuo時shi
，輸shu入ru軸zhou驅qu使shi偏pian心xin軸zhou開kai始shi轉zhuan動dong
，進jin而er帶dai動dong擺bai線xian輪lun做zuo起qi偏pian心xin運yun動dong。擺bai線xian輪lun的de齒chi形xing別bie具ju一yi格ge，呈cheng現xian為wei特te殊shu的de擺bai線xian曲qu線xian樣yang式shi，它ta與yu針zhen齒chi殼ke內nei的de針zhen齒chi相xiang齧nie合he。

 suizheshuruzhouchixuzhuandong
，baixianlunyuzhenchikelijinxingxingxingyundong，yinqizishenjihetexingyuyundongguiji，huichanshengyigejiansubi
，zhegejiansubishiyoubaixianlunyuzhenchidechishuchazhidengyaosuqueding，xiangbaixianlunchishusheweiZ1，針齒齒數是Z2，減速比便約為（Z2-Z1）/Z1。

 擺線輪自轉通過輸出機構（諸如等距分布的柱銷等）chuandaozhishuchuzhou，chenggongbashurudegaosuxiaoniujuyunzuozhuanhuaweidisudaniujushuchu，yicizhunquekongzhijiqirenguanjiedongzuoyushili。deyiyubaixianlunhezhenchijingmipeihe，gaojingdudeyibaozheng，jianshaohuichengwuchayuyundongjianxi
，wengujiqirenguanjieyunxing。