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 .
分析了这种新型减速器的工作原理及结构特点，导出了内齿环板的受力公式。
This paper analyzed the working principle and structural characteristics of this new typed reducer, and derived the force acceptance formula of inner-toothed ring plates.
该文详细介绍了谐波齿轮减速器的工作原理和设计。
In the paper, the operating principle and design of the harmonious gear reducer is interpreted in details.
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