刚柔复合齿轮是通过内部柔性部件自适应变形协调实现高可靠精密传动的新型齿轮． 为了探究复合齿轮变形协调参数对其动态特性的影响，在建立刚柔复合齿轮综合啮合刚度模型的基础上，采用 ADAMS 建立了刚柔复合齿轮副虚拟样机． 分析了齿圈与轮毂之间的间隙、齿轮副的中心距、金属橡胶的弹性模量对复合齿轮齿圈加速度、角加速度、啮合力和动态传动误差等动态特性的影响规律． 仿真结果表明: 减小齿轮副中心距使得齿圈与轮毂角加速度和齿轮副啮合力明显减小，传动精度也有所提高; 增加金属橡胶弹性模量可以有效抑制齿圈振动加速度，但啮合力增加; 齿圈与轮毂间隙增大，齿圈的加速度增加，传动误差增大，角加速度有所减小． 综合以上因素，减小齿轮副中心距和齿圈与轮毂间隙，增加金属橡胶弹性模量可以减小复合齿轮振动，提高传动精度．

Rigid-flexible composite gear is a new type of gear with high reliability and precision transmission through adaptive deformation coordination of internal flexible components． In order to explore the influence of the coordination parameters of composite gear deformation on its dynamic characteristics，the virtual prototype of rigid- flexible composite gear pair was established by ADAMS based on the establishment of the comprehensive meshing stiffness model． The influence of the gap between the ring gear and the hub，the center distance of the gear pair， the elastic modulus of the metal rubber on the dynamic characteristics of the compound gear ring acceleration，an- gular acceleration，meshing force and dynamic transmission error were analyzed． The simulation results show that the reduction of the center distance of the gear pair not only diminishes the angular acceleration of the ring gear and the hub，but also the meshing force of the gear pair． What’s more，the transmission precision is also improved． The increase of the elastic modulus of the metal rubber can effectively suppress the vibration acceleration of the ring gear，but the meshing force increases． The gap between the ring gear and the hub increases，the acceleration of the ring gear increases，the transmission error increases，and the angular acceleration decreases． Combining the above factors，reducing the center distance of the gear pair and the gap between the ring gear and the hub，increasing the elastic modulus of the metal rubber can reduce the vibration of the composite gear and improve the transmission ac- curacy．