Strain wave gearing - Wikipedia
![The components of a harmonic drive system [28] | Download Scientific Diagram](https://www.researchgate.net/publication/260973044/figure/fig1/AS:521149155364864@1501263049261/The-components-of-a-harmonic-drive-system-28.png "The components of a harmonic drive system [28] | Download Scientific Diagram")
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