Study of Kinematics and Meshing Characteristic of Harmonic Gear Drives Based on the Deformation Function of the Flexspline;

Experimental Research on Transmission Accuracy of Four-tooth Difference Harmonic Drive;

Analysis of Nature Vibration of Circl Spline in Harmonic Drive;

A multi-object optimal design method was proposed to meet the various performance requirements for harmonic drive in different systems,such as harmonic drive precision,load capacity and flexspline fatigue strength in practical engineering.

It is proved that the involute profile may be adapted in fourtooth difference harmonic drive by the numerical method.

This paper analyzes the deformation of flexspline of harmotric drive with three-wave wavegenerator by using elastic theory-obtain the formula of the deformation of flexspline-the conculution provided theoretical basis for studying of harmotric drive with three-wave wavegenerator.

The studies on the dynamical behaviors of harmonic drive system have been progressing from linear to non-linear since1970 s,but not all non-linear transmission properties were introduced into the models developed by international researchers.

Based on the transmission mechanism of error in harmonic drive, worked out the magnitudes and frequencies of different components of transmission errors according to the error independent operation principle.