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From: sharpe@mecad.uta.edu (Todd Wittman Sharpe)
Subject: Harmonic Drives
Message-ID: <SHARPE.94Jun13133702@mecad.uta.edu>
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Date: Mon, 13 Jun 1994 19:37:02 GMT
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I'm looking into using a harmonic drive for a serial arm configuration.  I have called a few
manufacturers about the life of the drives but the varied responses makes me wonder if they
have tested any of them empirically.  Wondering if anyone can give me any information about
the life

I've also heard that they vibrate some.  This may affect the performance characterists of a
precision robot.  Is this just a rumor from a bad engineer?
