This invention relates to reduction in frictional torque of {HEAD ~ a harmonic drive type transmission apparatus} having {TAIL ~ a circular spline}, a flexspline, and a wave generator 
This invention relates to reduction in frictional torque of { HEAD ~ a harmonic drive type transmission apparatus } having { TAIL ~ a circular spline } , a flexspline , and a wave generator
OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH