Regarding isometric curve of two-stub hypocycloid as tooth profile curve of rigid wheel, a harmonic chain drive experimental unit is designed and manufactured.

• 摘要以双支短幅内摆线的等距曲线作为刚轮的齿廓曲线，设计制作了1台谐波传动试验样机，通过试验验证了谐波链传动的运动可行性；