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Based on the basic theory of harmonic drive, circular spline profile is computed by envelope method when flexspline profile chooses double circular-arc tooth. The load distribution among the teeth of the flexspline has been calculated under different working conditions. When the force intersection angle of the four-acting-force wave Generator decreases, the load distribution will become centralized, and the maximum force acting on the areas of the teeth will also increase.

Load Distribution among the Teeth of Flexspline of Harmonic Drive with Double Circular-arc Tooth Profile