A Refined Dynamic Model of Harmonic Drive and Its Dynamic Response Analysis

Table 1

Parameters used in the model simulation.

Attributes	Values
Stiffness
			Friction				(N)
	1.45	80		58	6.43
Kinematic error
	0.4615	2		4
		0.2057	4.5000	0.0110	−1.0000
		Other parameters
35.25	2.57			20	2.55