一概述谐波传动是五十年代中期随着空间科学技术的发展,在薄壳弹性变形的理论基础上发展起来的一种新型传动。传动的基本原理于1955年由美国学者Musser C. W. 发现,1959年获得专利,1960年在纽约实物展出,并成功地用于火箭、卫星……多种传动系统中。使用证实,应用这种传动原理研制的各种新型传动,较一般齿轮传动具有运动精 An overview of harmonic drive is the mid-fifties with the development of space science and technology, based on the theory of thin shell elastic deformation developed a new type of transmission. The basic principles of transmission were discovered by American scholar Musser C. W. in 1955, patented in 1959, physically exhibited in New York in 1960, and successfully used in many transmission systems such as rockets, satellites. The use of proven, the application of this principle of transmission developed a variety of new transmission, gear transmission than the average movement of fine