谐波减速器作为一种传动比大、传动精度高、体积小、传动效率高的减速器，被广泛应用于各类机器人的关节等部位。随着我国机器人产业的蓬勃发展，对于高性能谐波减速器的需求日益增加。谐波减速器自发明以来，经过数十年的发展，国外先进厂商如哈默纳科等占据了大部分高端市场。国内机器人行业对于谐波减速器等关键技术的研究与国际先进水平相比仍有较大差距。因此，研究高性能谐波减速器的设计与制造对我国机器人产业的发展是十分重要的。本文利用有限元仿真方法对谐波减速器的动态啮合过程进行研究，并对齿形进行优化以获得更好的啮合性能。首先，分析了谐波减速器中柔轮、刚轮、波发生器等零部件及齿形的几何特征，并应用参数化设计理论确定了对其进行参数化建模的方法。应用NX Open API等工具，在UG NX平台上开发了谐波减速器的参数化建模工具，实现了对谐波减速器中各部件的快速建模与修改，为优化其齿形与结构参数提供了便利。其次，分析了各种对谐波减速器的性能进行评价的指标，特别是传动精度与疲劳寿命。分析了齿侧间隙、啮合深度、啮合比等参数对传动精度的影响，以及齿面接触应力、齿根应力和柔轮上应力对谐波减速器疲劳寿命的影响。应用ANP网络分析法建立了包含各类参数的谐波减速器啮合性能的综合评价模型，以作为对比不同齿形性能的标准。建立了谐波减速器动态啮合过程仿真的有限元模型。在HyperMesh中进行了有限元模型的前处理，并在ANSYS中应用Explicit Dynamics显式动力学方法对柔轮与刚轮的动态啮合过程进行了仿真求解。通过对仿真结果的后处理，得到了传动误差、齿侧间隙、啮合深度、啮合比及应力分布等结果，从而能够使用啮合性能的综合评价模型对某一谐波减速器的性能进行评价。在对现有齿形的有限元仿真结果进行分析后，确认了柔轮轮齿空间变形对谐波减速器啮合性能的影响。将现有齿形优化为空间齿形后，使用谐波减速器啮合性能综合评价模型对比了优化前后的性能表现，确定了空间齿形设计的必要性，为谐波减速器齿形的优化提供技术依据。

Harmonic reducer, as a reducer with a large transmission ratio, high transmission precision, small size and high transmission efficiency, is widely used in various robots. With the vigorous development of China's robot industry, the demand for high-performance harmonic reducers is increasing. After decades of development of harmonic reducers, foreign advanced manufacturers such as Harmonic Drive have occupied most of the high-end market. Therefore, research on the design and manufacture of high-performance harmonic reducers is very important for the development of robot industry. In this paper, the finite element simulation method is used to study the dynamic meshing process of the harmonic reducer, and the tooth shape is optimized to obtain better meshing performance.First, using the parametric design theory, the parametric modeling methods of the flex spline, circular spline, wave generator and tooth shape in the harmonic reducer are studied. Using the NX Open API, a parametric modeling tool for the harmonic reducer was developed on the UG NX platform, which realized the rapid modeling of the components in the harmonic reducer and provided convenience for optimizing the tooth shape and structural parameters.Secondly, the various performance evaluation indexes of harmonic reducers, especially the transmission accuracy and fatigue life, are analyzed. The influence of parameters such as tooth backlash, meshing depth, meshing ratio and other parameters on the transmission accuracy, as well as the effects of tooth surface contact stress, tooth root stress and stress on the flex spline on the fatigue life of harmonic reducer are analyzed. ANP method was used to establish a comprehensive evaluation model of the meshing performance of the harmonic reducer as a standard for comparing the performance of different tooth shapes.The finite element model of the simulation of the dynamic meshing process of the harmonic reducer is established. The pre-processing of the finite element model was performed in HyperMesh, the explicit dynamics method was used to simulate the meshing process, and the results of transmission error, backlash, meshing depth, meshing ratio and stress distribution were obtained through post-processing. After the analysis of the simulation results of current tooth shape, the influence of the spatial deformation of the teeth on flex spline on the meshing performance was confirmed. After optimizing the current tooth shape to the spatial tooth shape, the comprehensive evaluation model of the meshing performance was used to compare the performance before and after optimization, and the necessity of the space tooth shape design was determined to provide the optimization of the harmonic gear reducer Technical basis.