In this paper

error sources and the relation between error source and transimission error of harmonic gear drive is deeply analyzed based on its working principle and structure. Then synthesize these transimission errors by using stochastic error theory to write out estimative formula that calculate transimission error of harmonic gear drive. This paper also study the frequency spectrum of transimission error of harmonic gear drive.In this paper

the theoretical analysis is carried out for the beet frequency phenomenon of transimission error of harmonic gear drive and the reason that the beet frequency occur has been found and simulated.Finally

in this paper the measuring technique of transimission error and its Fourier spectrum of harmonic gear drive has been studied. The mesuring system has been built up and several harmonic gear drives have been measured using this measuring system. Based on the measuring results

the theoretical analyses have been vertified.