Design method of harmonic gear device

The invention discloses a design method of a harmonic gear device, and designs the harmonic gear device comprising a rigid gear and a flexible gear and the rigid gear and the flexible gear capable ofrealizing space engagement. The design method comprises the following steps: (1) in a direction perpendicular to the axis of the flexible gear, front, middle and back sections of the flexible gear areselected; (2) a discrete point of a tooth profile of each section of the rigid gear is obtained through an envelope method based on a simulation motion trajectory of the flexible gear; and (3) a complete tooth profile of the rigid gear is obtained according to the obtained discrete points of the tooth profiles of the three sections of the rigid gear. The design method prevents defects in the conjugate profile design through single-section motion or adjustment of flexible gear structure in a traditional design method, and is more accordant with actual working conditions of a harmonic gear transmission device; and the d