The main work and results are as followings . according to gear engagement principle , the math model of swing movable teeth drive is established . the engagement curve , engagement equation , relative speed between eccentric gear and movable teeth , and between movable teeth and internal gear are presented , and the gear equation of internal gear is presented 取得了以下研究成果：根据齿轮啮合原理，建立了基于齿轮啮合原理的摆动活齿传动的数学模型，推导了偏心轮激波器与活齿、活齿与中心轮内齿圈的接触线方程、啮合方程、相对速度和中心轮内齿圈的齿形方程。
The end face harmonic gear drive of oscillating teeth contains the advantages of the common harmonic gear drive and the oscillating teeth drive , and it belongs to the three dimensional space oscillating teeth gear drive . the new kind of transmission theory introduced in this article has been applied for patent ( the application number is 200410012992 . 6 ) some fundamental theory of the end face harmonic gear drive of oscillating teeth is investigated in this paper , which can benefit the design of the product and the popularization of the patent 这种新型的传动装置属于空间的活齿传动机构，可以从根本上克服传统的径向谐波齿轮传动中柔轮的变形与其承载能力之间的矛盾，并可增加同时啮合的齿数，加大齿轮的模数，从而可以在保留径向谐波齿轮传动所有优点的基础上，使其所传递的功率增加数十倍。
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。
The response of the vibration system is solved . the torsional and flexural vibrations of swing movable teeth transmission system is analyzed and the elasticity of driving shaft , the elasticity of output shaft bearings and the elasticity of movable teeth are taken into consideration . the dynamic analyzing model of swing movable teeth transmission system is established 对摆动活齿传动系统的弯曲振动、扭转振动及其耦合效应进行了分析，并综合考虑了系统的输入轴的弹性、输出轴轴承的弹性以及活齿与激波器、内齿圈的啮合弹性等的影响，建立了摆动活齿传动系统弯、扭耦合振动的动力学分析模型。
By changing the structural parameters of swing movable teeth drive , and by using the finite element software system to make large quantities of numerical calculation , the different curves of meshing stiffness of swing movable teeth drive are obtained . the change laws of meshing stiffness of swing movable teeth drive are studied , and the effects of structural parameters " change on meshing stiffness of swing movable teeth drive are discussed 通过改变摆动活齿传动的结构参数，应用有限元软件系统对摆动活齿传动啮合刚度进行了大量的数值计算，得到不同的活齿传动啮合刚度变化曲线，深入研究了摆动活齿传动啮合刚度的变化规律，讨论了传动参数的变化对传动啮合刚度的影响。
Based on the analysis and discussion of characteristics and law of gear engagement under condition of elasto - hydrodynamic , a calculation method on sliding and rolling work loss of standard spur gear transmission had been put forward , and the relationship of geometric parameters and overlapping coefficients of gear with sliding work loss was revealed 摘要基于弹流润滑状态下的齿轮啮合特性及规律分析和讨论，提出了标准直齿传动的滑动功损及滚动功损的计算方法，揭示了齿轮的几何参数和重迭系数与滑动功损的关系。
4 ) the three - dimensional solid models of the spatial cam sliding tooth transmission are built up ; the assembling and exploding on the solid modes of those components are made ; the construction of this transmission device is described directly , and the checkout of the assembling coordination between the components of the spatial cam sliding tooth transmission can be done in the design stage 4 )建立了空间凸轮活齿传动装置的三维实体模型，并对实体模型进行装配和爆炸处理，直观地描述了该传动装置的结构，实现了在设计阶段对空间凸轮活齿传动零部件装配协调性的校验。
