機器人關節用擺線包絡精密減速器的擺線輪齒形誤差對傳動回差的非線性影響是怎樣的
？

 擺線輪的齒形誤差會對機器人關節用擺線包絡精密減速器dechuandonghuichachanshengxianzhudefeixianxingyingxiang。lixiangqingkuangxia，baixianlunyuzhenchidenieheshifuhelilunchixingde，chuandonghuichayingbaochiwendingdexianxingguilv。dandangbaixianluncunzaichixingwuchashi，zhezhongniehedelixiangzhuangtaibeidapo。

 當(dang)齒(chi)形(xing)存(cun)在(zai)局(ju)部(bu)凸(tu)起(qi)誤(wu)差(cha)時(shi)
，在(zai)齧(nie)合(he)過(guo)程(cheng)中(zhong)，該(gai)凸(tu)起(qi)部(bu)分(fen)會(hui)提(ti)前(qian)與(yu)針(zhen)齒(chi)接(jie)觸(chu)
，導(dao)致(zhi)實(shi)際(ji)的(de)齧(nie)合(he)起(qi)始(shi)位(wei)置(zhi)與(yu)理(li)論(lun)位(wei)置(zhi)出(chu)現(xian)偏(pian)差(cha)
，使(shi)得(de)傳(chuan)動(dong)回(hui)差(cha)在(zai)該(gai)區(qu)域(yu)突(tu)然(ran)減(jian)小(xiao)
；而當齒形存在凹陷誤差時，齧合的接觸區域會減少，在相應位置傳動回差會突然增大。

 erqie，zhezhongwuchadeyingxiangbingfeijunyunfenbuzaizhenggechuandongguochengzhong，ershisuizhebaixianlundezhuandong，zaibutongdenieheweizhi，chixingwuchadebiaoxianxingshibutong，congerdaozhichuandonghuichachengxianchufeixianxingdebodong。zhezhongfeixianxingdehuichabianhuahuiyingxiangjiqirenguanjiedeyundongjingduhekongzhiwendingxing，youqishizaixuyaogaojingdudingweidechangjingxia，huiduijiqirendezuoyezhiliangchanshengbuliyingxiang。