On the basis of research on engagement principle of harmonic drive with circular-arc tooth profile, a design method was presented for double circular-arc tooth profile of basic rack for flexspline and rigid spline of harmonic drive. The double circular-arc tooth profiles of basic rack ensured the tooth profiles of flexspline and rigid spline to keep on conjugating with each other during the meshing period, especially there existed so-called dual-conjugated meshing zones, in which the convex and concave profiles of flexspline conjugated with the concave and convex profiles of rigid spline simutaneously, this characteristics played important roles in improving the torsional stiffness and transmission accuracy of the harmonic drive. The double-circular-arc tooth profiles of basic rack of harmonic drive with elliptical wave generator were developed and applied in design and manufacture of the hobs with double-circular-arc tooth profile for flexspline, the shaping cutters with double-circular-arc tooth profile for rigid spline and the sample device for experimentation. Compared with the involute profile, the flexible strength, transmission accuracy, and torsional stiffness of the harmonic drive with double-circular-arc tooth profiles are markedly improved. 

double-circular-arc tooth profile, harmonic drive, wheel cutter, basic rack

在研究圆弧齿廓谐波齿轮传动啮合原理的基础上，提出了双圆弧谐波齿轮传动柔轮和刚轮基本齿廓设计方法。该基本齿廓可以保证啮合过程中，柔轮和刚轮齿廓始终处于共轭运动状态，特别在啮合过程中，存在柔轮凸齿廓和凹齿廓分别与刚轮凹齿廓和凸齿廓同时处于共轭运动的“双共轭”啮合区间，这对于提高双圆弧谐波齿轮传动扭转刚度和传动精度具有重要作用。开发了椭圆凸轮波发生器双圆弧谐波齿轮传动基本齿廓，根据该齿廓设计制造了双圆弧谐波齿轮滚齿刀、双圆弧谐波齿轮插齿刀和双圆弧谐波齿轮传动样机。对比分析与实验表明，与渐开线齿廓相比，双圆弧齿廓谐波齿轮传动的柔轮强度、传动精度和扭转刚度等明显提高。

双圆弧齿廓, 谐波齿轮传动, 齿轮刀具, 基本齿廓