res. reps pavoies
ere
Sar
Introduccion
Dssde 1965 cuando elingeniero americano Musser inventéla primera versn dala ransnisién Harmonic Drive(HD), muchos invesigadores
hhanuratado de desarollarnuevasversiones una dees.as wersicn ela ranstrision Hanne
icotor (Hi), lacualensambla enun solo componente
‘elmotory la transinsién harmonie Deve. Losbeneiiciosdo estastransmisiones estibanien susexcelcnteseclacionesde trarsmisién que van dese
50:1 2200-1, aunque las especiales pueden llegr hasta 400: 1. Lastranomisiones ms pequefias pueden dar un por minimo de salida de 1.3 Nm a
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