精密圆理减速器是一种以圆为基本要素，通过研究几何圆的相互作用规律构建主要功能部件的精密传动装置，具有结构紧凑、传动效率高、制造成本优势明显的突出优点，可广泛应用于机器人关节、航空航天、国防武器装备等精密传动领域。项目以精密圆理啮合副为目标，围绕新型精密圆理啮合副的传动误差和效率两个核心问题，针对其啮合机理和能效传递规律开展基础理论方面的研究。提出一种基于滚滑作用的新型摆线模型，揭示其基本啮合机理，形成新型精密圆理啮合副传动误差的主动设计理论与方法，突破新型啮合副啮合精度保持的关键技术；通过对精密圆理啮合副的相对滑动规律的研究，揭示基于时变摩擦系数的精密圆理啮合副能效传递机理，突破其能效传递的核心关键技术；试制新型精密圆理减速器，开发适合批量化生产的精密圆理减速器综合性能测试仪器，完成样机性能测试，进行试验验证。本项目的研究工作将为精密圆理减速器的大批量生产奠定技术基础。

The precision circle-based reducer takes the circle as the essential elements. The idea comes from the study of interacting laws of geometrical circles to establish the key components of precision-motion transmission mechanism. It has the advantages of compact size, high transmission efficiency and low manufacturing cost, which can be widely used in the areas of industrial robot joints, aerospace and national defense equipment. The project is mainly focused on the circle-based gear pair and on how it affects the transmission error and efficiency which are the two big problems in speed reducers. Therefore, fundamental theoretical research works on the meshing principle and power transmission of the circle based gear pair will be conducted in this project. The new cycloid model is proposed based on the rolling-sliding contact to discover its meshing principle where a new active design theory and method will be developed and the key technology of precision durability will be broken. The study on sliding-rolling contact laws of the circle-based gear pair will give a clear understanding on its power transfer mechanism based on the time-varying friction coefficient where the key technology will be broken. Then the physical prototype of the circle-based speed reduce will be manufactured and its performances will be evaluated by using the experimental method. For the demands of mass production, the comprehensive performance testing platform will be developed. The research works in this project will lay the technical foundation for the mass production of the precision circle-based reducer.