Abstract: In this paper, the transmission behaviors and tribological properties of the solid and grease lubricated XB1-60-150 harmonic drivers were studied under a range of temperature and overload condition. The results showed that in the temperature range of -50℃ to +40℃ and overload condition below 150%, both the solid and grease lubricated harmonic drivers exhibited good transmission behaviors. The transmission efficiency of the grease lubricated harmonic driver was better than that of the solid lubricated one; however, the solid lubricated harmonic driver showed more stable transmission efficiency under different temperatures and loads. After running 1.5×105 r of the wave generator, a strip examination of the two harmonic drivers using an optical microscope revealed that the surface of the flexspline and the circular spline were in a good condition with no signs of inordinate wear. The lubrication in this area had thus been fully effective. In addition, the effects of temperature, lubrication mode and load on transmission behavior of the harmonic driver were analyzed with an orthogonal design method for multi-factor analysis. The analysis results showed that the influence order of the tested factors were ranked as temperature>lubrication type>load condition.