“…As for the RV reducers, they have high stiffness and rotational accuracy. However, their structural composition is relatively complex, making it difficult to achieve miniaturization; moreover, it is applied to heavy load situations, such as mounts, arms, and shoulders of the general-size robot [ [24] , [25] , [26] ]. Finally, Harmonic reducers have the advantages of a large transmission ratio, small size, and lightweight, and they are mainly used for small arms, wrists, or hands of general-size robots.…”