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阐述了通用谐波齿轮减速器的设计计算方法及其结构设计。内容包括谐波齿轮传动的发展概况、工作原理、参数选择、几何计算、结构设计以及计算实例等。实践表明，给出的设计计算方法是可行的，可供谐波齿轮传动设计参考。
The design and calculation method of general harmonic gear reducer and its structural design are expounded. Including the development of harmonic gear drive, working principle, parameter selection, geometric calculation, structural design and calculation examples. Practice shows that the design calculation method is feasible and can be used for reference of harmonic gear drive design.