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为了保持双、三环减速器的优点，而克服用渐开线为齿形时的缺点，提出了双曲柄环板式针摆行星减速器，介绍这种新型传动的工作原理、结构设计与优点及样机性能试验的结果。
In order to maintain the advantages of double-ring and triple-ring speed reducers and overcome the shortcomings of using involute as the tooth profile, a dual-crank ring plate type cycloid reducer is proposed. The working principle, structural design and advantages of the new type of transmission are introduced. Prototype performance test results.