Abstract:The combined harmonic drive (HD) gearing is a class of differential gears composed of\ud
traditional and HD gears. In this paper, the kinematic analysis and enumeration of these\ud
less known gear devices are discussed. In particular, a new graph-based method of kinematic\ud
analysis has been developed. In order to stimulate the diffusion and applications of\ud
combined HD gearing, an atlas of structurally nonisomorphic gear trains has been\ud
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