中文摘要：

采用公切线双圆弧齿廓作为谐波传动柔轮齿廓,通过包络理论推导出刚轮与柔轮的共轭齿廓方程和共轭区域,同时运用最小二乘法拟合刚轮齿廓的离散点,得到刚轮的拟合圆弧曲率半径.在此基础上,综合考虑卷吸速度、啮合点法向载荷、真实表面粗糙度和轮齿接触几何等因素,建立了双圆弧齿廓和渐开线齿廓谐波齿轮在共轭啮合区的混合润滑数学模型,分析了不同转速下谐波齿轮共轭啮合区处齿根啮合点和齿顶圆啮合点的润滑状态.研究结果表明：齿廓形状对润滑性能影响显著,采用双圆弧齿廓能显著增加平均油膜厚度和降低最大油膜压力,使润滑性能得到改善;随着波发生器转速逐渐降低,共轭齿根啮合点和共轭齿顶圆啮合点的平均油膜厚度和膜厚比随之减小,接触载荷比随之增大,润滑效果变差.

英文摘要：

Using the double-circular-arc common-tangent tooth profile as the flexspline of harmonic drive, conjugate tooth profile equation and conjugate zone of flexspline and rigid wheel was deduced through the envelope method. Meanwhile, the least-squares method was used to fit the discrete points of rigid wheel＇s tooth profile to get the fitting circular radius of curvature of rigid wheel. A mixed lu- brication model at conjugatemeshing domain （CMD） of the double-circular-arc tooth profile and invo- lute tooth profile of harmonic gear were established considering the normal load of meshing point, real surface roughness and tooth contact geometry. The lubrication of the tooth root meshing-in point and addendum circle meshing point of harmonic gear at CMD were calculated at different speed. The re- sults show that the effect of tooth profile on lubrication performance is significant, and using the double-circular-arc tooth profile can obviously increase the average film thickness and decrease the maximum oil film pressure, which makes the lubrication performance better. The decrease in speed of wave generator reduces the average film thickness and film thickness ratio, and increases contact load ratio at tooth root meshing-in point and addendum circle meshing point at CMD, leading to poor lubrication.