Ochepetsa
Strain wave gearing (yomwe imadziwikanso kuti harmonic gearing) ndi mtundu wa zida zamakina zomwe zimagwiritsa ntchito spline yosinthika yokhala ndi mano akunja, yomwe imapunduka ndi pulagi yozungulira yozungulira kuti igwirizane ndi mano amkati a spline akunja.Zigawo zazikulu za harmonic reducer: Wave Generator, Flexspline ndi Circular Spline.Kuchepetsa kwathu kwa ma harmonic kwagwiritsidwa ntchito bwino m'magawo a ntchito ndi ma robot a mafakitale.
