介绍了谐波齿轮传动的工作原理，输入与输出同轴、结构简单、且输出在电机与减速器中间的减速传动。

This paper introduced the theory of harmonic gear and one reducing transmission from the middle of motor and reducer , which has the same shaft for output and input and a simple structure .

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介绍了一种结构比较简单、输出与输入同轴且输出在电机与减速器中间的减速传动。

One reducing transmission form the middle of motor and reducer, which has the same shaft for output and input and a simple structure, is introduced.

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