NASA NTRS · 19820000198
Redundant Gear Train
Abstract
Tandem harmonic drives are immune to single-point failure. One mechanism continues transmitting power regardless of how other fails. Harmonic drive mechanism, combination of elliptical wave generator and tooth differential between flexible spline and circular spline produces rotational speed reduction in compact volume.
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Packard, D. T.. 1983-03-01. Redundant Gear Train. https://ntrs.nasa.gov/citations/19820000198
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