摘要：This paper proposes a new approach to mial function of transmission error （TE） for spiral design and implement a seventh-order polyno- bevel gears with an aim to reduce the running vibration and noise of gear drive and improve the loaded distribution of the tooth. Based on the constraint conditions of predesigned seventh-order polynomial function curve and the theory of linear algebra, the polynomial coefficients of the seventh-order polynomial function of transmission error can be obtained. By applying a method named reverse tooth contact analysis, the modified roll coefficients as well as parts of machine-tool settings for the face-milling of spiral bevel gears can be individually determined. Therefore, a predesigned seventh-order polynomial function of transmission error for spiral bevel gears can be obtained by the modified roll with high-order coef- ficients, and comparisons of the seventh-order polynomial and parabolic functions of transmission error are also performed. The achievement of spiral bevel gears with the seventh-order function of transmission error can be accomplished on a universal Cartesian-type hypoid gear generator or a numerically controlled cradle-style hypoid gear generator due to its simple generating motion of axes of the cradle and the work piece. The results of a numerical example show that the bending stresses of the tooth of seventh-order are less than those of a parabolic one, while the contact stresses remain almost eouivalent.

摘要：Although the torso plays an important role in the movement coordination and versatile locomotion of mammals,the structural design and neuromechanical control of a bionic torso have not been fully *** this paper,a parallel mechanism is designed as a bionic torso to improve the agility,coordination,and diversity of robot *** mechanism consists of 6-degree of freedom actuated parallel joints and can perfectly simulate the bending and stretching of an animal’s torso during walking and *** overall spatial motion performance of the parallel mechanism is improved by optimizing the structural *** on this structure,the rhythmic motion of the parallel mechanism is obtained by supporting state *** neural control of the parallel mechanism is realized by constructing a neuromechanical network,which merges the rhythmic signals of the legs and generates the locomotion of the bionic parallel mechanism for different motion *** results show that the complete integrated system can be controlled in real time to achieve proper limb-torso *** coordination enables several different motions with effectiveness and good performance.