In order to improve the machining accuracy and efficiency of harmonic gear, this paper proposes a skiving machining and the tool design method for double-arc harmonic rigid wheels. Based on the envelop theory, the conjugate tooth profile of the harmonic rigid wheels is solved, and the least squares method is used to fit it. The conju? gate surface and rake surface are solved by constructing the skiving machining coordinate system and rake face coor? dinate system, and NURBS surface is used to fit. The rake and conjugate surface are intersected by Newton interative method to obtain the cutting edge data, and the mathematical model of skiving tool is established by importing the data to CAD software. On this basis, the influence of different rake edge angles and back edge angles on tool profile error is analyzed. The results show that the skiving tool has a certain deviation between the actual tooth profile and the theoretical tooth profile due to the rake edge angle and back edge angle, and this deviation increases gradually from the tooth tip to the tooth root with the increase of rake angle and back angle.