Abstract
In this work, the analytical investigation of an angular shift between a wave generator and a meshing zone of a high torque mechanical harmonic drive has been carried out. On the basis of analysis of contact deformations in the system rigid gear/flexible gear/wave generator a system of equations has been worked out. The analytical investigation was supported by the numerical calculations for the unique drive of a walking excavator. For validation of the theoretical investigation, results of experimental work were used.
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