An equivalent mechanism model for kinematic accuracy analysis of harmonic drive

A nonlinear model of a harmonic drive gear transmission

T.D. Tuttle, Warren Seering · IEEE Transactions on Robotics and Automation · 1996 · 204 citations

Engineering, Nonlinear Circuit, Motor Drive +12

On the Kinematic Error in Harmonic Drive Gears

Fathi H. Ghorbel, Prasanna Gandhi, Friedhelm Alpeter · Journal of Mechanical Design · 1998 · 148 citations · Full text

Robot Kinematics, Engineering, Motor Drive +16

The parametric design of double-circular-arc tooth profile and its influence on the functional backlash of harmonic drive

Xiaoxia Chen, Yusheng Liu, Jingzhong Xing et al. · Mechanism and Machine Theory · 2013 · 82 citations

Engineering, Double-circular-arc Tooth Profile, Mechanical Engineering +3

A Novel Harmonic Drive With Pure Involute Tooth Gear Pair

Rathindranath Maiti · Journal of Mechanical Design · 2004 · 68 citations

Electrical Engineering, Engineering, Profile Modification +7

A High-Fidelity Harmonic Drive Model

Curt Preissner, Thomas J. Royston, Deming Shu · Journal of Dynamic Systems Measurement and Control · 2011 · 64 citations

Electrical Engineering, Engineering, Nonlinear Circuit +9