The double circular arc tooth profile of harmonic drive has a significant impact on the performance of gear transmission,based on the kinematics of harmonic gearing theory,the common tangent double circular arc tooth profile that suitable for harmonic drive is designed by using the MATLAB,the meshing simulation analysis of the interference,lateral clearance,deformation,trajectory is carried out. The results show that the design of double circular arc tooth profile harmonic drive is out of meshing when the turn angle of wave generator is greater than 62°,and the number of teeth in meshing is more; before the flexible gear contour out of meshing,the gear tooth without interference,always maintain continuous contact,the mesh point changing,and meshing in good condition,it is help to improving the bearing capacity of the harmonic drive,transmission precision,torsional stiffness and other performance.