The combined harmonic drive (HD) gearing is a class of differential gears composed of traditional and HD gears. In this paper, the kinematic analysis and enumeration of these less known gear devices are discussed. In particular, a new graph-based method of kinematic analysis has been developed. In order to stimulate the diffusion and applications of combined HD gearing, an atlas of structurally nonisomorphic gear trains has been compiled.
Issue Section:
Design of Mechanisms and Robotic Systems
Keywords:
Gear trains
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