Matematical model of a harmonic drive with the disk wave generator
The paper considers the application of a spatial mathematical model of the harmonic drive in order to define the force interaction between harmonic drive elements and disk wave generator. The calculation is based on the use of Bubnova-Galerkin method. The change of a form of flexible and rigid wheels is investigated when the loading of a wave tooth gearing increases. The numerical researches have confirmed the adequacy of the proposed mathematical model.