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采用微机辅助动态测试与频谱分析技术，对工业机器人中的谐波传动系统的振动情况进行了测量，确定了此类谐波齿轮减速器振动的特点，并分析了产生扭转振动和弯曲振动的原因。
The vibration of harmonic drive system in industrial robots was measured by computer-aided dynamic test and spectrum analysis technology. The characteristics of vibration of such harmonic gear reducer were determined and the causes of torsional vibration and bending vibration were analyzed .