Abstract: The paper and its companion [Dong et al. , 2011, “Kinematic Fundamentals of Planar Harmonic Drives,” ASME J. Mech. Des., 133 (1), p. 011007], which treats a harmonic drive without a cup, ...

Abstract: This paper presents the kinematic model and offers a rigorous analysis and description of the kinematics of planar harmonic drives. In order to reflect the fundamental kinematic principle of ...

Abstract: This paper presents a general conjugation model based on the intrinsic kinematical properties of the contact path. The model is truly general for any planar transmission through contact curves, ...