Harmonic gear reducer can be divided into single wave, double wave and three wave according to its mechanical wave number, of which double wave transmission is commonly used. In harmonic drive, the tooth number difference between the rigid wheel and the flexible wheel should be equal to the integral times of the mechanical wave number, which is usually taken as equal to the wave number.
simple structure, small volume and light weight. Compared with the ordinary reducer with the same transmission ratio, its parts are reduced by 50%, its volume and weight are reduced by about 1 / 3 or more. The transmission ratio of single-stage harmonic reducer can be between 50-300, preferably between 75-250. The transmission ratio of double harmonic reducer can be between 3000-60000, and that of complex harmonic reducer can be between 200-140000.
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