The transmission ratio of the reducer variable speed integrated gear is as follows:
Where ε is the eccentricity.
The expressions of KM and E are obtained by neglecting the high-order harmonic terms in meshing stiffness and error
KR — stiffness and error fluctuation amplitude;
Er — stiffness and error fluctuation amplitude;
φ m – phase angle of stiffness;
φ e — phase angle of error.
Considering the influence of stiffness and phase difference of error excitation on vibration, and taking φ M = π / 2 and φ e = 0 respectively, then on the right side of the formula:
The rigid angular acceleration in the formula is expanded by Fourier series. Taking the first two terms, the load of gear is constant