将谐波行星传动、摆线针轮传动、少齿差行星传动、滚子从动杆凸轮等传动模式进行组合,创造出一种新机构——杆式谐波行星传动机构,主要特点是从动杆替代波轮,用普通钢材来制造,既可节约贵重合金钢材,大大降低制造成本,又保留了谐波传动结构紧凑、体积小、重量轻、传动比大、承载能力高、效率高的诸多优点,具有广阔的推广应用前景。此仿真研究对缩短样机试制周期,加速新产品的工业化进程起了关键作用。 Harmonic planetary drive, cycloid pinwheel drive, a small tooth difference planetary gear, roller driven lever cam and other transmission modes are combined to create a new body - rod harmonic planetary gear, the main feature is from The utility model can replace the pulsator with the ordinary steel to manufacture expensive alloy steel materials, greatly reduce the manufacturing cost, and retain the advantages of compact harmonic drive structure, small size, light weight, large transmission ratio, high load carrying capacity and high efficiency Many advantages, with broad prospects for promotion and application. This simulation study to shorten the prototyping cycle, accelerate the industrialization of new products played a key role.