A tooth profile is of significant importance to the performance of a harmonic drive. Available studies about designing a tooth profile only consider the influence of the tooth profile on the meshing characteristics from a macro perspective. However, the effects of the surface roughness and contact geometry of the tooth on the lubrication characteristics from the micro perspective are rarely reported. In the present study, a double-circular-arc tooth profile is used as the basic tooth profile of the flexspline. Based on the modified kinematic method, a conjugate profile is calculated and the tooth profile of the circular spline is obtained. On this basis, the mathematical model for the mixed lubrication of the harmonic drive with a double-circular-arc tooth profile is established by considering the factors of the normal load of meshing point, relative velocity, contact geometry, and surface roughness. The comprehensive performance under different double-circular-arc tooth profile parameters (tooth face radius, tooth flank radius, and common inclination) is analyzed. To verify the correctness of the research, four sets of harmonic drives are designed and machined for testing their basic performance. The results show that the parameters of the double-circular-arc tooth profile have multiple influences on the comprehensive performance. The meshing performance and lubrication performance are restricted. Parameter control can effectively improve comprehensive performance and different tooth profile parameters should be designed for different applications.

齿形对谐波传动的性能非常重要。现有有关设计齿廓的研究仅从宏观角度考虑齿廓对啮合特性的影响。然而，很少报道从微观角度来看齿的表面粗糙度和接触几何形状对润滑特性的影响。在本研究中，双圆弧齿形用作柔轮的基本齿形。基于改进的运动学方法，计算共轭轮廓并获得圆花键的齿廓。在此基础上，考虑啮合点法向载荷因素，建立了双圆弧齿形谐波传动混合润滑的数学模型，相对速度、接触几何形状和表面粗糙度。分析了不同双圆弧齿廓参数（齿面半径、齿面半径、共同倾角）下的综合性能。为验证研究的正确性，设计并加工了四套谐波传动装置以测试其基本性能。结果表明，双圆弧齿廓参数对综合性能有多重影响。啮合性能和润滑性能受到限制。参数控制可以有效提高综合性能，针对不同的应用设计不同的齿形参数。分析了不同双圆弧齿廓参数（齿面半径、齿面半径、共同倾角）下的综合性能。为验证研究的正确性，设计并加工了四套谐波传动装置以测试其基本性能。结果表明，双圆弧齿廓参数对综合性能有多重影响。啮合性能和润滑性能受到限制。参数控制可以有效提高综合性能，针对不同的应用设计不同的齿形参数。分析了不同双圆弧齿廓参数（齿面半径、齿面半径、共同倾角）下的综合性能。为验证研究的正确性，设计并加工了四套谐波传动装置以测试其基本性能。结果表明，双圆弧齿廓参数对综合性能有多重影响。啮合性能和润滑性能受到限制。参数控制可以有效提高综合性能，针对不同的应用设计不同的齿形参数。设计并加工了四套谐波传动，以测试其基本性能。结果表明，双圆弧齿廓参数对综合性能有多重影响。啮合性能和润滑性能受到限制。参数控制可以有效提高综合性能，针对不同的应用设计不同的齿形参数。设计并加工了四套谐波传动，以测试其基本性能。结果表明，双圆弧齿廓参数对综合性能有多重影响。啮合性能和润滑性能受到限制。参数控制可以有效提高综合性能，针对不同的应用设计不同的齿形参数。