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.
Kinematics and Enumeration of Combined Harmonic Drive Gearing
Università degli Studi di Roma “Tor Vergata,”
via del Politecnico, 1,
Rome 00133, Italy
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received April 16, 2015; final manuscript received September 1, 2015; published online October 15, 2015. Assoc. Editor: Dar-Zen Chen.
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Pennestrì, E., and Valentini, P. P. (October 15, 2015). "Kinematics and Enumeration of Combined Harmonic Drive Gearing." ASME. J. Mech. Des. December 2015; 137(12): 122303. https://doi.org/10.1115/1.4031590
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