Influence of wave generator profile on the pure kinematic error and centrodes of harmonic drive

This paper addresses the kinematics of the harmonic drive (HD). The influence of the wave generator shape on the pure kinematic error of HD is herein discussed and quantitatively evaluated. In particular, this error has been plotted for the different working modes (i.e. considering different components as frame). Similarities between meshing of the wave generator profile with flexspline and cam-follower system have been observed. Moreover, the analytical expressions of relative motion centrodes have been deduced. These are believed to be useful for the design of conjugate profile teeth.