(论文翻译 页数:5数:1441)是1953年由美国人C.WALTON MUSSER教授发明的，并于1955年获得美国专利,1960年在纽约展出实物， 1961年开始介绍到我国。最初，这种新的齿轮装置被应用于空间技术及其它特殊的应用领域。
传动要素和构件
谐波齿轮传动主要由波发生器、柔性齿轮和刚性齿轮三个基本构件组成，
虽然这些构件的外形可能会根据它们的实际应用而有所改变，但是在这里被描述的类型是典型的和具有代表性的。
 波发生器
波发生器是一个连接在一个润滑滚珠球轴承上的椭圆凸轮.它通常作为回转式的输入元件. 当装入柔轮孔内时,它可把椭圆形的式样传送给柔轮,使柔轮外齿和刚轮的内齿在各自圆周上等间距180度接合,这样在接合点处就形成一个真正的齿轮啮合.
 柔性齿轮（简称柔轮）
锯齿柔轮是非刚性的或柔性的,呈薄壁圆杯状,比刚轮圆周小且少两齿.通常做为回转式输出元件,在输出通过刚轮时,可作为固定非回转件.

 刚性齿轮（简称刚轮）
刚轮是带有内齿的薄壁,刚硬环.通常做为固定或非回转件,但在某些应用领域,又可做为回转输出元件.

rinciple of operation of gears, from which the name Harmonic
Drive is derived, was patented in 1955, by its inventor, C.Walton Musser. Initially this new gear concept was applied in aerospace and other highly specific applications.
System Components
All harmonic drive products employ the same three basic elements: a Circular Spline, a Flexspline and a Wave Generator. Although these elements may take alternate forms depending on their application, the types described here are typical and representative.
 WAVE GENERATOR (WG)
The Wave Generator is an elliptical cam enclosed in an antifriction ballbearing assembly. It normally functions as the rotating input element. When inserted into the bore of the Flexspline, it imparts its elliptical shape to the Flexspline, causing the external teeth of the Flexspline to engage with the internal teeth of the Circular Spline at two equally spaced areas 180 degrees apart on their respective circumferences, thus forming a positive gear mesh at these points of engagement.
 FLEXSPLINE (FS)
The externally toothed Flexspline is a nonrigid or flexible, thin-walled, cylindrical cup which is smaller in circumference and has two less teeth than the Circular Spline. It is normally the rotating output element but can be utilized as the fixed, non rotating member when output is through the Circular Spline.
 CIRCULAR SPLINE (CS)
The Circular Spline is a thick-walled, rigid ring with internal spline teeth. It normally functions as the fixed or non rotating member but can, in certain applications, be utilized as a rotating output element as well.

The Principles of Harmonic Drive Gearing
The diagram shows the three basic harmonic drive elements (Circular Spline, Flexspline and Wave generator) assembled in a normal configuration. Ordinarily, the Circular Spline is held stationary or fixed and input is through the Wave generator, while output is via the Flexspline. Under these circumstances, operation of the harmonic drive unit is as follows.
As the Wave generator is rotated by the primary power source, it imparts a continuously moving elliptical form or wave-like motion to the Flexspline. This causes the meshing of the external teeth of the Flexspline with the internal teeth of the Circular Spline at their two equidistant points of engagement to progress in a continuous rolling fashion. It also allows for full tooth disengagement at the two points opposite the minor axis of the Wave Generator. Since the Flexspline has two less teeth than the Circular Spline and because full teeth disengagement is made possible by the elliptical shape of the Wave Generator, each complete revolution of the Wave Generator causes a two tooth displacement of the Flexspline in relation to the Circular Spline. This displacement is always in the opposite direction of the rotation of the Wave Generator (see diagram). for example, if the Wave Generator is rotating in a clockwise direction, the two-tooth-per-revolution displacement of the Flexspline will be in a counter-clockwise direction and vice versa.