Abstract: Aiming at the different neutral curves in cross sections perpendicular to the axis made by the taper deformation under flexspline of harmonic drive produced by cam wave generator,a spatial tooth profile of circular spline was designed to improve meshing performance.The spatial tooth profile was constructed with a series plane tooth profiles in the cross sections by spatial deformation of flexspline.A design method for spatial tooth profile of circular spline which spatial engaged with deformed flexspline and a calculation method of backlash between engaged teeth surface were established.Based on the conjugated tooth profiles in planes,the spatial tooth profile was generated by using lofting algorithm,and the interference and backlash results were checked.The research found that the spatial tooth profile could increase the meshing domains and contact area.There was a little difference between the loft method of two sections with straight guide line and a series section loft spatial tooth profiles,which could meet the design requirement of normal precision of harmonic transmission device.

Key words: harmonic gear, involute tooth profile, spatial tooth profile, conjugate tooth profile, lofting

摘要： 针对杯形柔轮在波发生器作用下的锥度变形特征造成垂直于回转轴的横截面内中面变形曲线差异的问题,设计刚轮空间齿廓以提高谐波齿轮的啮合性能。基于杯形柔轮的空间变性特征,将刚轮空间齿廓设计转化为垂直于轴线的多个横截面内的平面齿廓设计。设计了与变形后的柔轮齿廓实现空间啮合的刚轮空间齿廓设计方法,及其啮合齿面间的侧隙计算方法。基于多个平面内的共轭齿廓,利用放样算法生成空间齿廓,并进行干涉检查和侧隙结果验证。验证表明：空间齿廓能增大啮合区间和齿廓接触面积;采用两截面直引导线的放样方法生成的空间齿廓与多个截面内设计的共轭齿廓差别不大,可以满足一般精度的谐波齿廓传动的设计要求。

关键词: 谐波齿轮, 渐开线齿廓, 空间齿廓, 共轭齿廓, 放样