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为揭示谐波齿轮传动的动态啮合性质和进一步研究其承载能力，在考虑传动元件的弹性、间隙、误差和动态影响后，本文提出了一种求解谐波齿轮传动啮合齿间空间动态啮合力分布的直接送代解法，并可确定实际参与啮合的齿对数及柔轮的畸变状态．本文还给出了详细的计算实例，得出了对谐波齿轮传动理论研究和工程应用具有指导意义的结论，从而解决了谐波齿轮传动空间动态啮合力的理论计算问题．
In order to reveal the dynamic meshing properties of harmonic gear drive and further study its bearing capacity, a new method to solve dynamic meshing force distribution of intermeshing gears is proposed after considering the elasticity, clearance, error and dynamic influence of transmission elements. Direct solution generation method, and to determine the actual engagement in the meshing teeth and the flexure of the state of distortion. In this paper, a detailed calculation example is given, and the conclusions of the theoretical research and engineering application of harmonic gear drive are given, which solves the theoretical calculation problem of dynamic meshing force of harmonic gear drive.