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Abstract
The conditions of self-braking in harmonic drives with a flexible wheel made in the form of a bushing chain are considered. A special feature of the harmonic drive is the design that has a dual generator and a double-crowned sprocket. This design allows to avoid skewing the chain under load. The criteria for self-braking in chain harmonic drives are defined. It is found that for chain harmonic drives in the range of gear ratios above 30, the effect of self-braking is provided. In the range of gear ratios up to 30, extra-centroid gearing is required to achieve the effect of self-braking.
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