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Aiming at the requirements of large radial size， large load-bearing load and high precision of the thin-walled gear ring of a planetary reducer for a high-altitude rescue vehicle， the deformation of the thin-walled gear ring during processing and heat treatment is analyzed， and the cause of the deformation of the workpiece is found. A solution is developed， the process route of thin-walled ring gear processing and heat treatment is optimized. By using Deform heat treatment simulation software， the optimized heat treatment route is simulated， and the feasibility of the optimized scheme is verified. This optimization scheme improves the accuracy of the workpiece， meets the requirements of a certain high-altitude rescue vehicle planetary reducer to work normally under complex working conditions， and ensures the safe and stable operation of mechanical equipment. Engineering practice shows that this optimization scheme is suitable for low-speed and heavy-duty high-altitude rescue vehicle slewing mechanism reducer， and has high economic and practicality.

The joint motor is one of the core components of the foot robot，and its dynamic response directly affects the performance of the robot. Among them，the planetary reducer is a precision mechanical transmission mechanism，and its transmission accuracy is closely related to the deformation of key parts. Therefore，by using Adams，a rigid-flexible coupling dynamics simulation model of the joint motor is established to simulate the transient output characteristics during the startup process. In the model，the key parts are flexibly processed，and the motion pair constraints between the parts are set. The Hertz contact theory is used to calculate the contact stiffness coefficient of the planetary gear and the sun gear and the inner gear ring. The simulation results show that the dynamic characteristics of the joint motor are closely related to the acceleration time and inertial load. A larger acceleration time and a smaller inertial load are beneficial to improve its dynamic performance.

Aiming at the difficulties in the selection of planetary reducer in an enterprise,a planetary reducer selection software is developed to improve the efficiency of selection. The software is developed based on Visual Basic 6. 0 and Access 2013,the XML format is used for formula storage. By analyzing the selection process and the factors of the selection,the required parameters are selected,the calculation formula of motor-reducer-load transmission process is analyzed and deduced. The database,calculation module,auxiliary function module and planetary reducer selection system are designed. Finally,the feasibility of the planetary reducer selection system is verified by concrete examples.

The 3-stage planetary reducer with closed-loop control is adopted in CE-3 lunar rover wheel drive mechanism.Aiming at the problem that the speed stability of drive mechanism does not satisfy the design requirements,the factors affecting the speed stability of planetary reducer are systematically analyzed,and methods and measures minimizing the inequality of load sharing of planetary gear sets are studied carefully.Through troubleshooting and numerical simulations,the causation is uncovered as follows:the first stage sun gear radial runout exceeds the allowed range.Then two solutions are proposed:the first one is to redesign the first stage sun gear into a floating sun gear,the second one is to improve the machining precision of the first stage sun gear.And the second solution is adopted because it is smaller and lighter than the first one.Then much ground simulation tests which are conducted at the room condition,high-temperature vacuum condition and low-temperature vacuum condition demonstrate that the speed stability of drive mechanism satisfies the design requirements.At last,the effectiveness of the proposed method is validated by the telemetry parameters of lunar rover moving on the moon surface.