The modification principle of tooth surface is deduced, and it draws the conclusion that the modificative tooth depth of wave producer, end face gear and oscillating teeth have certain relation.

研究了活齿端面谐波齿轮各啮合副齿面修形的原则，得出了波发生器、活齿前后端和端面齿轮齿面的修形高度之间必须满足的关系。

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The end face harmonious gear drive of oscillating teeth is a new type of driving device, which combines the advantages of the common harmonic gear drive and the oscillating tooth drive.

首次提出了一种活齿端面谐波齿轮传动装置 ，介绍了这种新型谐波齿轮传动装置的传动原理和传动比的计算方法。

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The end face harmonious gear drive of oscillating teeth is an invention that contains the advantages of the common harmonic gear drive and the oscillating tooth.

首次提出了一种活齿端面谐波齿轮传动装置 ，介绍了这种新型谐波齿轮传动装置的传动原理和传动比的计算方法。

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