Figure 1 is a front partial view of

图1是根据本发明原理构造的谐波传动齿轮装置的局部正视图。<br>图2是图1所示的柔性花键和圆形花键的齿的象限的视图，示出了它们之间的齿啮合的渐进点。<br>图3是与圆形花键的一对齿啮合的柔性花键齿的正视放大图，示出了本发明的齿啮合并叠加在其上的几何表达式可用于解释如何确定各种齿廓的曲线方程。和<br>图4是示出绘制几何表达式用于本发明的轮廓曲线方程中使用的坐标系统的图。

Figure 1 is a front partial view of a harmonic drive gearing assembly constructed according to the principles of the present invention;<br>Figure 2 is a view of a quadrant of the teeth of a flexspline and a circular spline shown in Figure 1, showing the progressive points of tooth engagement therebetween;<br>Figure 3 is a frontal enlarged view of a flexspline tooth engaging a pair of teeth of the circular spline, showing the tooth engagement of the present invention and superimposed thereon are geometric expressions useful in explaining how the curve equations for the various tooth profiles were determined; and<br>Figure 4 is a drawing illustrating the coordinate systems used in drawing the geometric expressions for the profile curve equations of the present invention.

图1是根据本发明原理构造的谐波传动齿轮总成的前视图；<br>图2是图1所示的柔轮花键和圆花键的齿象限的视图，显示了它们之间齿啮合的渐进点；<br>图3是与圆花键的一对齿啮合的柔性花键齿的正面放大图，显示了本发明的齿啮合，并叠加在其上是用于解释如何确定各种齿廓的曲线方程的几何表达式；以及<br>图4是示出用于绘制本发明的轮廓曲线方程的几何表达式的坐标系的图。