surface electric plates are placed over the flexor digitorum profundus, tricep, bicep, anterior deltoid and posterior deltoid to monitor the muscle activity over each of these positions.

1、

if everybody speak frankly and sincerely, there won't be any difficulty.

只要大家开诚布公，就没有什么是困难的。

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2、

and the rationality and is validated by the above result. finally, according to the analysis above, a type 50 harmonic drive prototype with 1/ 4 short flexspline is designed.

最后，根据前面对齿形和结构参数的分析结果，设计了50机型1/4比例短筒柔轮谐波传动三元件结构。

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3、

in addition, based on the finite element method, the motion characteristic of harmonic gear drive is analyzed. firstly, the factors that cause the deformation of flexspline are analyzed in the paper.

进一步对在有限元分析基础上谐波齿轮传动的运动特性进行了研究。文中首先通过对引起柔轮变形因素的研究，认为柔轮的变形是由波发生器和载荷同时作用的结果。

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4、

the flexspline is the important part of the harmonic drive. and the invalidation of the harmonic drive mostly is the fatigue rupture of the flexspline.

柔轮为谐波齿轮传动的一个关键部件，柔轮的疲劳断裂是谐波齿轮传动最主要、最常见的一种失效形式。

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5、

on the basis of membrane shell theory, a finite element modal is set up to calculate natural frequencies and mode shapes of flexspline of a harmonic drive.

基于薄壳理论，首次用8节点曲壳超参数单元的有限元法建立了柔轮筒体的动态计算模型。

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6、

the ratio of the largest radial deformation and the thickness of the flexspline is much more than 0.2, so it is a large deformation question.

针对柔轮在波发生器作用下，其最大径向变形与厚度比大于0.2，是一个大变形问题，采用了大变形的接触有限元分析，保证了有限元模型与实际受载的一致性。

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7、

but the dynamic properties and fatigue of the flexspline which is the key part of the harmonic gear drive is the major factor to limit its performance.

但谐波齿轮传动的关键部件柔轮是一弹性薄壁构件，其动态特性和寿命一直是制约谐波齿轮传动性能的主要因素。

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8、

the formula of single tooth stiffness coefficient of the flexspline and the meshing stiffness of the harmonic drive is deduced firstly;

首先推导出柔轮单齿刚度系数的计算公式并估算了谐波齿轮传动的啮合刚度；

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9、

the method, by which the distortion curve can be obtained according to the operation load and the primary curve of flexspline, is introduced.

导出了柔轮原始曲线、工作载荷与柔轮畸变变形曲线的关系；介绍了根据工作载荷及原始曲线求解柔轮畸变变形曲线的新方法。

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10、

based on the principle and characteristic of harmonic gear driving, researched the problem about the sharp increase of stress in short flexspline deformation.

从谐波齿轮传动的原理和特点出发，分析短筒谐波齿轮传动中短筒柔轮的变形力和应力急剧增加的问题。

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11、

the dynamic modeling and test of the groupware of flexspline and wave generator of harmonic gear drive

谐波传动中柔轮和波发生器的动力学建模与试验

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12、

analysis of backlash from flexspline torsional deformation in harmonic gearing

谐波齿轮传动中柔轮扭转变形产生的回差分析

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13、

study on influential factors to dynamic characteristics of hydraulic buffers ansys based analysis of flexspline in harmonic gear drive

液压减震器动力特性的影响因素研究基于ANSYS的谐波减速器柔轮受力分析

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14、

analyzing the strength and the benefit of heat spinning closed flexspline of harmonic gear drive

封闭谐波齿轮传动柔轮旋压技术及效益分析

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15、

firstly, the factors that cause the deformation of flexspline are analyzed in the paper.

文中首先通过对引起柔轮变形因素的研究，认为柔轮的变形是由波发生器和载荷同时作用的结果。

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16、

therefore, it is significant important to study on dynamic properties and fatigue life of the flexspline.

因此，对柔轮的动态特性和疲劳寿命研究具有重大的理论意义和实用价值。

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17、

study on the deformation of flexspline in the engagement output harmonic drive

齿啮输出谐波传动柔轮变形的研究

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18、

finite element mechanics analysis of flexspline in harmonic driver and improvement of structural parameter

谐波齿轮传动柔轮有限元力学分析及结构参数改进

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19、

harmonic gear driving device and the short flexspline study

谐波齿轮传动装置及其短筒柔轮分析研究

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20、

ansys based analysis of flexspline in harmonic gear drive

基于ANSYS的谐波减速器柔轮受力分析

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