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Dynamic modelling and torque ripple minimization of a lightweight ultra-high transmission ratio harmonic drive

Efstratios Tsolakis, Georgios Vasileiou, Nikolaos Rogkas, Christos Kalligeros, Pavlos Zalimidis and Vasilios Spitas

MATEC Web Conf., 317 (2020) 01007

DOI: https://doi.org/10.1051/matecconf/202031701007

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