为了消除柔轮装配后”杯口张角”对谐波传动的不利影响，在分析了传统的共轭 齿廓设计方式的缺陷之后，对传统空间齿廓设计方式进行了优化改进，提出了柔轮齿圈壁 厚内倾式调整的设计方式;针对柔轮齿圈壁厚内倾式调整的设计方式，提出了柔轮齿廓连 续切割制造工艺方案并设计了专用工装夹具，并进行了实验试制． 结果表明: 相较常规柔 轮齿廓设计模型，新型空间齿廓柔轮装配后不与刚轮发生干涉，装配应力降低 50． 2%，啮 合面积占比增加7． 6 个百分点;最大齿形工艺偏差远小于设备加工精度． 试制实验结果与 理论分析相符，验证了该方法的可行性． 

After the analysis of the defects of traditional conjugate tooth profile design method，the traditional spatial tooth profile design method was optimized and improved in order to eliminate the disadvantageous effect of“cup opening angle”on harmonic drive after flexspline assembly，and the design method of the inclined adjustment of the wall thickness of the flexspline gear ring was put forward． For the design method of the inward inclination adjustment of the wall thickness of the flexspline gear ring，the manufacturing technology scheme of continuous cutting of flexspline tooth profile was put forward，the special fixture was designed，and the experimental trial production was made． The results show that，compared with the conventional flexspline tooth profile design model，the flexspline of the new spatial tooth profile does not interfere with the rigid wheel after assembly． The assembly stress is reduced by 50. 2% and the meshing area is increased by 7. 6%，the maximum process deviation of tooth profile is far less than the machining accuracy of the equipment． The experimental results are consistent with the theoretical analysis，so the feasibility of the method is verified．