The invalidation of the harmonic gear drive is mostly the fatigue rupture of the flex spline.

谐波齿轮传动的主要失效形式是柔轮的疲劳断裂,小长径比的柔轮的强度更为薄弱.

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These could be good fundamentals for improving the design of harmonic gear reducer and their performances.

为谐波齿轮减速器的设计,提高其工作性能打下了良好的基础.

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