针对谐波减速器在空间低速、轻载的工况下,由于磨损引起传动误差、回差超过要求精度的失效模式,首先建立了考虑磨损量的谐波减速器的传动误差和回差的计算模型,并由此建立了谐波减速器的可靠性模型。根据所建立的可靠性模型进行了实例分析,并编写MATLAB程序进行了计算。结果表明,所建立的谐波减速器可靠性模型是符合实际情况的。 Aiming at the failure mode of the harmonic reducer under the conditions of low speed and light load in space, the transmission error and the hysteresis of the harmonic reducer exceed the required accuracy, the calculation of the transmission error and the hysteresis of the harmonic reducer considering the amount of wear is first established Model, and thus established the reliability model of harmonic reducer. Based on the established reliability model, an example is given and MATLAB program is compiled. The results show that the established reliability model of harmonic reducer is in line with the actual situation.