Kepeň Harachová, DanielaMaláková, SilviaSivák, Samuel2023-03-102023-03-1020231337-8996http://drepo.uniza.sk/handle/hdluniza/811Harmonic Drive, also called Harmonic Drive gear, harmonic gear, or strain wave gearing, mechanical speed-changing device, invented in the 1950s, that reduces the gear ratio of a rotary machine to increase torque. It operates on a principle different from that of conventional speed changers. Harmonic drive products are unique precision speed reducers playing important roles in robots, semiconductor manufacturing systems, factory automation equipment and furthermore, in aerospace equipment that may convey our human dreams.skhttp://creativecommons.org/licenses/by/4.0/harmonic driveflexible wheelzero backlash gearinsertion the teethArticlehttps://doi.org/10.26552/tech.C.2023.1.3