Flexspline　wear　is　a　critical　factor　leading　to　harmonic　drive　failure.　This　study　investigates　the　tribological　properties　of　five　typical　flexspline　materials　under　dry　friction　conditions.　A　wear　mechanism　regulated　by　micro-metallographic　structure　is　proposed.　Tempered　sorbate　was　confirmed　to　be　the　desired　metallographic　structure　from　a　tribological　perspective.　Additionally,　a　suitable　cementite　content　could　promote　the　anti-wear　characteristics　of　friction　interfaces.　However,　the　metallographic　structure　of　granular　ferrite　was　found　to　be　unfavorable.　Tribological　experiments　under　start-stop　conditions　were　conducted　to　analyze　the　impact　effect　during　harmonic　drive　operation.　The　grain　level　and　speed-dependent　properties　of　the　flexspline　materials　were　determined.　This　research　provides　important　information　for　avoiding　flexspline　wear　and　consequent　failure　of　harmonic　drives.