DOI: 10.1115/1.4031590
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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 compiled