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综合考虑了三环减速机输入轴和支撑轴的弹性、行星轴承的弹性、输出轴轴承的弹性、齿轮啮合弹性以及输人轴和支撑轴偏心套的偏心误差和分度误差，建立了三环减速机的弹性动力学方程。分析了三相齿轮的动态啮合力，揭示了三环减速机中存在的超谐共振现象。试图为系统地分析三环减速机的动力学行为，改善其动态特性建立坚实的理论分析方法
Considering the three-ring reducer input shaft and support shaft elasticity, planetary bearing flexibility, the output shaft bearing flexibility, gear meshing elasticity and input shaft and support shaft eccentric sleeve eccentric error and indexing error, the establishment of a three-ring Elastic dynamics of reducer. The dynamic meshing force of the three-phase gear was analyzed, and the super-harmonic resonance phenomenon in the three-ring reducer was revealed. Trying to establish a solid theoretical analysis method for systematically analyzing the dynamics of the three-ring reducer and improving its dynamic characteristics