but the dynamic properties and fatigue of the flexspline which is the key part of the harmonic gear drive is the major factor to limit its performance.

the formula of single tooth stiffness coefficient of the flexspline and the meshing stiffness of the harmonic drive is deduced firstly;

首先推导出柔轮单齿刚度系数的计算公式并估算了谐波齿轮传动的啮合刚度；

the method, by which the distortion curve can be obtained according to the operation load and the primary curve of flexspline, is introduced.

导出了柔轮原始曲线、工作载荷与柔轮畸变变形曲线的关系；介绍了根据工作载荷及原始曲线求解柔轮畸变变形曲线的新方法。

based on the principle and characteristic of harmonic gear driving, researched the problem about the sharp increase of stress in short flexspline deformation.

从谐波齿轮传动的原理和特点出发，分析短筒谐波齿轮传动中短筒柔轮的变形力和应力急剧增加的问题。

the dynamic modeling and test of the groupware of flexspline and wave generator of harmonic gear drive

谐波传动中柔轮和波发生器的动力学建模与试验

analysis of backlash from flexspline torsional deformation in harmonic gearing

谐波齿轮传动中柔轮扭转变形产生的回差分析

study on influential factors to dynamic characteristics of hydraulic buffers ansys based analysis of flexspline in harmonic gear drive

液压减震器动力特性的影响因素研究基于ANSYS的谐波减速器柔轮受力分析

analyzing the strength and the benefit of heat spinning closed flexspline of harmonic gear drive

封闭谐波齿轮传动柔轮旋压技术及效益分析

firstly, the factors that cause the deformation of flexspline are analyzed in the paper.

文中首先通过对引起柔轮变形因素的研究，认为柔轮的变形是由波发生器和载荷同时作用的结果。

therefore, it is significant important to study on dynamic properties and fatigue life of the flexspline.

因此，对柔轮的动态特性和疲劳寿命研究具有重大的理论意义和实用价值。

study on the deformation of flexspline in the engagement output harmonic drive

齿啮输出谐波传动柔轮变形的研究

finite element mechanics analysis of flexspline in harmonic driver and improvement of structural parameter

谐波齿轮传动柔轮有限元力学分析及结构参数改进

harmonic gear driving device and the short flexspline study

谐波齿轮传动装置及其短筒柔轮分析研究

ansys based analysis of flexspline in harmonic gear drive

基于ANSYS的谐波减速器柔轮受力分析

finite element analysis of stress on tooth rim of a flexspline

柔轮齿圈应力的有限元分析

construction and technology research of the welding flexspline

焊接杯型柔性齿轮的结构工艺研究

flexspline stress analysis considering thermal field effect by fem

考虑温度场影响的柔轮应力有限元分析

the study and calculation of load distribution between flexspline in harmonic drive

谐波齿轮传动柔轮齿间载荷分布规律的研究与计算

finite element analysis of harmonic flexspline based on experiment modeling

基于实验建模的谐波齿轮传动柔轮的有限元分析研究

optimization of flexspline structure parameters and dynamic simulation for harmonic drive

谐波传动柔轮结构参数优化与整机动态仿真

vibration analysis of flexspline under a small deformation using finite element method

小挠度下柔轮筒体振动的有限元分析