On the Kinematic Error in Harmonic Drive Gears

@article{Ghorbel2001OnTK,
  title={On the Kinematic Error in Harmonic Drive Gears},
  author={Fathi H. Ghorbel and Prasanna S. Gandhi and Friedhelm Alpeter},
  journal={Journal of Mechanical Design},
  year={2001},
  volume={123},
  pages={90-97}
}
Harmonic drive gears are widely used in space applications, robotics, and precision positioning systems because of their attractive attributes including near-zero backlash, high speed reduction ratio, compact size, and small weight. On the other hand, they possess an inherent periodic positioning error known as kinematic error responsible for transmission performance degradation. No definite understanding of the mechanism of kinematic error as well as its characterization is available in the… 
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