Summary
Harmonic Drive
Harmonic drive gearboxes, also known as strain wave gears, are a type of gear system
known for their high reduction ratios, compactness, and low backlash. They are commonly
used in robotics, aerospace, and other applications requiring precise motion control.
Key characteristics of harmonic drive gearboxes:
● Components: They typically consist of three main parts: a rigid circular spline, an
elliptical wave generator, and a flexible spline (flexspline).
● Operation: The wave generator deforms the flexspline into an elliptical shape, causing
its teeth to engage with the circular spline in two opposing areas.
● High Reduction Ratio: Harmonic drives achieve high gear ratios within a small package
due to the difference in the number of teeth between the flexspline and the circular
spline.
● Low Backlash: They exhibit low backlash (rotational play between input and output) due
to the continuous engagement of teeth between the flexspline and circular spline.
● Applications:
Harmonic drives are used in various applications, including:
○ Robotics: In robot joints for precise positioning and movement.
○ Aerospace: In satellite gimbals, antenna positioning, and other space-related
applications.
○ Machine Tools: In CNC machines for high-precision cutting and machining.
○ Medical Devices: In surgical robots and other precision medical equipment.
Examples of papers discussing harmonic
drive gearboxes:
"Analysis of harmonic gearbox tooth contact pressure"
by ResearchGate discusses the contact pressure distribution and stress analysis within
the gear teeth.
"Study on Gear Contact Stiffness and Backlash of Harmonic Drive Based on Fractal Theory"
by ResearchGate analyzes the contact stiffness and backlash using a fractal contact
model.
"Harmonic Drive Gear Failures in Industrial Robots Applications: An Overview"
by ResearchGate examines the failure mechanisms and potential issues in harmonic
drives used in industrial robots.
"A harmonic drive model considering geometry and internal interaction"
by ResearchGate presents a model that accounts for the geometry and internal
interactions of the drive, useful for dynamic design and control.
"Research on dynamic transmission error of harmonic drive with uncertain parameters"
by ScienceDirect.com focuses on the impact of manufacturing and assembly errors on
the dynamic performance of harmonic drives.
Sources
Sources
HarmonicPlanetary®
The innovative Ring Gear automati- cally adjusts for backlash, ensuring consistent, low backlash
for the life of the gearhead. Har...
Harmonic Drive
Solutions for additive manufacturing
Find out for yourself: share your next challenge with us and find out how your business can
become a driving force for innovation.
Harmonic Drive SE
ESMATS / ESA SP-653
The compactness and the high torque-to-weight ratio are common features of Harmonic Drive
gears which make them attractive for spa...
ESMATS 2025
Strain-wave Harmonic Gearboxes | Motion Control
The strain wave gearbox, also known as a harmonic drive gearbox, is a high-precision, compact,
and lightweight gearing solution wi...
Motion Control Products Ltd
Harmonic Drive - High-ratio speed reducer based on elastic deformation of an
elliptical gear - MATLAB
Description The Harmonic Drive block represents a compact, high-ratio speed reduction
mechanism that contains three key components...
MathWorks
Untitled
Harmonic Drive is a pure torque couple with all concentric elements and requires less space and
less bulky support structures than...
Harmonic Drive
Load-dependent Friction Laws of Three Models of Harmonic Drive Gearboxes
Identified by Using a Force Transfer Diagram
20 Jul 2021 — Harmonic Drive ( STRAIN WAVE GEAR ) (HD) gearbox is widely applied in
robotics and aerospace because of its compact and...
Archive ouverte HAL
How Strain Wave/Harmonic Gearboxes Work
6 Mar 2024 — Developed for applications requiring exact motion control and high torque
capacity within limited spaces, their ( Strain...
Sumitomo Drive Technologies USA
Strain Wave Gearbox/Harmonic Gearboxes
Are these gearboxes suitable for robotics applications? Yes, these drives are widely used in
robotics due to their ( harmonic/stra...
Sumitomo Drive Technologies USA
A harmonic drive model considering geometry and internal interaction
The kinematic error is fitted using a low-velocity test, and its generating mechanism is analysed.
The friction of the harmonic dr...
ResearchGate
Analysis of harmonic gearbox tooth contact pressure - ResearchGate
Harmonic gearbox systems are composed of rigid and flexible parts through which the torque is
transmitted, thus generating power.
ResearchGate
Research on dynamic transmission error of harmonic drive with ...
However, under real working conditions, dynamic parameters cannot be obtained accurately due
to manufacturing, assembly, and measu...
ScienceDirect.com
Study on Gear Contact Stiffness and Backlash of Harmonic Drive ...
# Corresponding Author / Email: yangcongbin@bjut.edu.cn. ... improves the contact stiffness. ...
study represents an example of a ...
ResearchGate
(PDF) An investigation into the vibration of harmonic drive systems
7 May 2025 — Similar to a harmonic drive system, one pair of gears generates differential
angular motion to achieve a high reduction ...
ResearchGate
Harmonic drive – Knowledge and References – Taylor & Francis
Harmonic Drive ( strain wave gearing ) ® strain wave gearing utilizes a unique operating
principle which is based upon the elastic...
Taylor & Francis
Accuracy in gearboxes and couplings
27 Feb 2024 — How is determined? The measurement of backlash is done by rotating the
output of a gearbox in both directions with the ...
couplingtips.com
Harmonic Drive - RoyMech
Harmonic Drive The harmonic gear allows high reduction ratios with concentric shafts and with
very low backlash and vibration. It ...
roymech.co.uk
Harmonic Drive: A Comprehensive Guide
22 May 2024 — When the wave generator is rotated, it deforms the flex spline, causing the teeth
on the flex spline to engage with the...
laifual-drive.com
Harmonic Drive® strain wave gear - zero backlash
Each complete clockwise rotation of the Wave Generator results in the Flexspline moving
counter-clockwise by two teeth from its or...
Harmonic Drive
Torsional rigidity of harmonic gear drives - ResearchGate
Abstract. A model is proposed for harmonic gear drives. The model takes into account that
harmonic engagement involves multiple pa...
ResearchGate
Analysis of harmonic gearbox tooth contact pressure
Harmonic drive gearing systems have been widely used in the area of precise control. Precise
reduction and positioning have been m...
IOPscience
Comprehensive Analysis of Major Fault-to-Failure Mechanisms in Harmonic Drives
2. Harmonic Drive in Cobot Applications In robotics, harmonic drives are often employed in joints
that require fine movements, suc...
MDPI
TORQUE ENHANCEMENT OF DRY LUBRICATED HARMONIC® DRIVE GEARS
20 Sept 2017 — Today Harmonic Drive ( HARMONIC® DRIVE ) ® gears have become standard
for various mechanisms in space applications. Pr...
ESMATS 2025
Dynamic modelling and torque ripple minimization of a lightweight ultra-high
transmission ratio harmonic drive
In this paper a novel power transmission is designed based on the harmonic drive technology to
meet the requirements of a pioneeri...
MATEC Web of Conferences
Product - Rack and Pinion with Gearhead
By having complete control over the design of the system, Harmonic Drive delivers max power
density with high linear stiffness and...
A3 Association for Advancing Automation
Harmonic drive - Svavar Konradsson - How to Make Something that Makes (almost)
Anything
They also have a bigger Nema23 version. Harmonic drives are ideal for things like robotics,
rotational axes on CNC machines and te...
MIT Fab Lab
How Strain Wave/Harmonic Gearboxes Work
6 Mar 2024 — Medical Devices: Precision is critical in medical devices, where strain wave
gearboxes are employed in surgical robots,
Sumitomo Drive Technologies USA
Reducer Catalog
Harmonic Drive ( strain wave gear ) ® actuators utilize high-precision, zero-backlash Harmonic
Drive ( strain wave gear ) ® precis...
Harmonic Drive
Cycloidal Gears vs Harmonic Gears
Harmonic drives are ideal for applications requiring ultra precise motion, such as medical
robotics, aerospace systems, and high p...
Cone Drive
(PDF) Application of Harmonic Drive Gears in Machine Tools
* PRINCIPLE OF OPERATION. * The Micro Harmonic Drive gear is based on a unique principle
of operation. When used as a. * speed re...
ResearchGate
(PDF) Harmonic Drive Gear Failures in Industrial Robots Applications
2017), which negatively affects the performance of DDMs. ... representing a possible hazard. ...
robot from Universal Robots depic...
ResearchGate
1. Introduction A harmonic drive (Fig. 1) consists of a toothed ...
A harmonic drive (Fig. 1) consists of a toothed mechanism, which composed of three main
elements: a rigid circular spline, an elli...
IMIM PAN
What is Strain Wave Gear a.k.a Harmonic Drive? A Perfect Gear Set ...
The ratio is equal to the flex spline teeth – circular spline teeth, divided by the flex spline teeth.
So, with the example of 200...
How To Mechatronics
Articles
Articles
1. https://www.bksv.com/media/doc/bn1330.pdf
2. https://ww2.eagle.org/content/dam/eagle/rules-and-guides/current/
conventional_ocean_service/150_ctrlofharmonicsinelecpowersystems/electrical-
harmonics-gn.pdf
3. https://apps.dtic.mil/sti/trecms/pdf/AD0783578.pdf
4. https://www.esmats.eu/amspapers/pastpapers/pdfs/2012/mobley.pdf
5. https://www.harmonicdrive.net/_hd/content/documents/assembly-instructions.pdf
6. https://hal.science/hal-03292998v1/document
7. What is Strain Wave Gear a.k.a. Harmonic Drive? A Perfect Gear Set For Robotics
Applications!?
8. https://www.google.com/search?
q=how+to+mechetraonics+harmonic+gearbox&rlz=1CAGUZK_enIN1076&oq=how+to+m
echetraonics+harmonic+gearbox&gs_lcrp=EgZjaHJvbWUyBggAEEUYOTIJCAEQIRgKGKAB
MgkIAhAhGAoYoAEyCQgDECEYChigATIJCAQQIRgKGKABMgcIBRAhGI8CMgcIBhAhGI8C0g
EJMTE3NDBqMGo3qAIAsAIA&sourceid=chrome&ie=UTF-8
