To develop the miniaturization of the electromagnetic harmonic movable tooth drive system, a novel configuration with an inner stator is proposed to create a great compressed structure. To avoid undesirable design parameters that lead to bifurcation and chaotic behavior of the flexspline, the nonlinear dynamic equations of the flexspline are established, and the Duffing equation and analysis results for the chaotic vibration of the flexspline are obtained by using the Donnell-Karman theory of thin-walled cylindrical shells with employing large deflection, the Bubnov-Galerkin principle, and the Melnikov function, separately. According to initial system parameters, based on the bifurcation diagrams, phase diagrams, displacement time course diagrams, and Poincare maps of the flexspline vibration, the dynamic behaviors are investigated, and the stability and chaos intervals are obtained. This study aims to reveal the influence of parameters on the chaotic phenomenon of the flexspline and to provide a theoretical reference for the design of the electromagnetic movable teeth drive.

为了发展电磁谐波动齿驱动系统的小型化，提出了一种带有内部定子的新颖结构，以创建一个巨大的压缩结构。为避免因设计参数不理想而导致柔轮出现分岔和混沌行为，建立了柔轮非线性动力学方程，利用Donnell-Karman理论得到了柔轮混沌振动的Duffing方程和分析结果。分别采用大挠度、Bubnov-Galerkin 原理和 Melnikov 函数的薄壁圆柱壳。根据初始系统参数，基于柔轮振动的分岔图、相图、位移时程图和庞加莱图，研究其动力学行为，得到稳定区间和混沌区间。本研究旨在揭示参数对柔轮混沌现象的影响，为电磁动齿传动的设计提供理论参考。