Wax yareeya
Hirgelinta hirarka mawjadaha (sidoo kale loo yaqaan gearing harmonic) waa nooc ka mid ah nidaamka qalabka farsamada ee isticmaala kab dabacsan oo leh ilko dibadda ah, kaas oo ay qaabeeyaan fur elliptical ah oo wareegaya si uu ula qabsado ilkaha marsho gudaha ee kabka dibadda ah.Qaybaha ugu muhiimsan ee yareeya iswaafajinta: Wave Generator, Flexspline iyo Spline wareeg ah.Hoos-u-dhigeheena is-waafajinta ayaa si guul leh loogu adeegsaday dhinacyada adeegga iyo aaladaha warshadaha.
