This study proposes a design method for a modified cycloid reducer with an epitrochoid tooth profile. The reducer used here has one contact pattern and non-pin rollers like a planocentric reducer. This feature makes the designed reducer easier to be manufactured compared to conventional cycloid reducers, which are difficult to manufacture due to tolerances. The tooth profile characteristics for nine different design scenarios for the cycloid reducer were analyzed with respect to the tooth thickness ratio and the distance from the center of the rolling circle. It was observed that the inflection point, which was calculated from the radius of curvature, was a major factor influencing the design of the cycloidal tooth profiles. A mathematical model for the force analysis of the designed reducer was developed, and variations in force distribution between the internal and external gears as well as the efficiency of the cycloid reducer were calculated according to different coefficients of friction. Involute and cycloid gears with a difference of one tooth between the internal and external gears were designed and manufactured, and finite element analysis showed that the cycloid gear had higher rigidity than the involute gear.

本研究提出了一种带有外摆线齿形的改进摆线针轮减速机的设计方法。此处使用的减速机具有一种接触模式和非滚针，如平心减速机。与由于公差而难以制造的传统摆线针轮减速器相比，此特征使得设计的减速器更易于制造。分析了摆线针轮减速机九种不同设计方案的齿形特征，包括齿厚比和距滚动圆心的距离。据观察，由曲率半径计算的拐点是影响摆线齿廓设计的主要因素。开发了用于设计减速器受力分析的数学模型，根据不同的摩擦系数计算了内外齿轮受力分布的变化以及摆线针轮减速机的效率。设计制造了内、外齿轮相差一个齿的渐开线和摆线齿轮，有限元分析表明摆线齿轮比渐开线齿轮具有更高的刚度。