A comprehensive technical comparison of harmonic drive and planetary reducers for robot joint applications
Introduction
Selecting the right transmission for a robot joint is one of the most consequential decisions in actuator design. The gearbox determines the joint's precision, stiffness, torque capacity, and cost — and the choice between harmonic drive and planetary reducers is rarely straightforward.
This guide provides a structured comparison based on application requirements, not marketing claims.
1. Fundamental Differences
Harmonic Drive (Strain Wave Gear)
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