一、前言谐波齿轮传动几何理论的研究是在这种新型传动大量使用实践的基础上发展并完善起来的。这不仅因为这种传动具有产生可控变形的柔轮,使得几何理论的研究较一般的齿轮传动为复杂;而且又由于其共轭齿形往往不能用数学中的初等方法来描述,考虑到工艺上的原因,研究时不能不引入某些附加条件。作为谐波传动的创始人C、W、Musser起初也没有彻底解决谐波齿轮传动的几何理论问题,这就促使国内外从事谐波齿轮传 I. Introduction The study of the theory of harmonic gear drive geometry is based on the extensive use of this new type of transmission developed and perfected. This is not only because the drive has a flexible wheel that produces a controlled deformation, making the study of the geometry more complicated than a typical gear drive. Moreover, because its conjugate tooth shape can not usually be described by elementary methods in mathematics, On the reason, the study can not but introduce some additional conditions. As the founder of harmonic drive C, W, Musser did not completely solve the geometric theory of harmonic gear drive at the beginning, which prompted the domestic and international engaged in harmonic gear transmission