To　solve　the　shortcomings　of　the　existing　modeling　method　for　transmission　errors　of　harmonic　reducers,a　comprehensive　error　modeling　method　considering　assembly　errors　and　tooth　surface　errors　was　proposed.The　mathematical　models　of　assembly　errors　and　tooth　surface　errors　were　established,and　the　error　influence　parameters　were　analyzed.The　eccentricity　and　tilt　angle　of　the　experimental　prototype　were　measured,and　the　corresponding　theoretical　values　of　eccentricity　error　and　tilt　error　model　were　obtained　based　on　the　model.The　amplitude　of　tooth　surface　machining　error　was　substituted　into　the　model　according　to　the　general　machining　condition　to　obtain　the　corresponding　machining　error　model　theoretical　value.Then,wearing　experiments　with　durations　of　500h,1500h,and　3000h　were　carried　out,tooth　surface　morphology　scanning　and　data　analysis　were　performed　to　obtain　corresponding　tooth　surface　morphology　parameters　after　wore.The　corresponding　wearing　error　model　theoretical　value　was　obtained　based　on　the　model.Considering　the　influence　of　multiple　sources　of　errors,three　sets　of　samples　with　the　same　model　number　were　set　up　for　transmission　error　experiments.The　experiment　results　showed　that　considering　factors　such　as　assembly　eccentricity,tilt　and　tooth　surface　machining,the　experimental　measurement　error　of　transmission　error　was　between　1.7%　and　3.3%　compared　to　the　theoretical　value　of　the　model;considering　factors　such　as　assembly　eccentricity,tilt,tooth　surface　machining　and　tooth　surface　wear　after　500h,1500h　and　3000h　of　wearing,the　experimental　measurement　error　of　transmission　error　was　between　-3.45%~2.07%,-5.88%~-2.94%,and　1.33%~5.33%　respectively.　©　2024　CIMS.　All　rights　reserved.