2 . the splitting method , enclosed planetary transmission sketch method and structure sketch method are used to deduce the transmission ratio formulas on several structures of the single - stage and double - stage spatial - cycloid - ball gearing respectively . further more , the simplified calculating formulas on one - tooth - difference and two - tooth - difference spatial - cycloid - ball gearing are given 2 、分别运用拆分法，封闭行星机构的传动简图和结构简图推导出单级和双级的多种结构的传动比公式，并给出一齿差、二齿差球面摆线钢球传动机构减速比的简化计算公式。
This article studies the following aspects : 1 , using the general mechanical system simulation software - - - adams to build the virtual prototype of planet - cycloid retarder , performing kinematic and dynamic simulation , analyzing the transmission ratio , transmission error and intervention of the mechanism , and outpurting load of the key pan 本论文完成的主要工作包括： 1 、利用机械系统仿真软件adams建立了摆线针轮减速机构的虚拟样机模型，通过对其进行运动学及动力学仿真，分析了模型的传动比、传动误差及干涉情况，并输出了关键机构的载荷时间历程。
So as a new precision transmission device , it is provided with widely application prospects in many industry fields such as robot industry , machine industry , instrument industry , etc . the project originates from the national " 863 " plan , named " the research and application on new spatial cycloid - ball gearing " ( no . 2001aa423190 ) 新型空间凸轮活齿传动具有传动精度高、啮合间隙可调、自锁性能好等优点，因此作为一种新型的精密传动装置，在机器人、机床、仪器仪表等工业领域有着广泛的应用前景。本课题来源于国家“ 863 ”计划“新型空间凸轮活齿精密传动及其应用研究” （课题编号： 2001aa423190 ） ，有关该新型传动设计理论与方法的研究是该课题的重要组成部分。
