Ba fokotsang
Strain wave gearing (eo hape e tsejoang e le harmonic gearing) ke mofuta oa mochini oa lisebelisoa tsa mochini o sebelisang spline e tenyetsehang e nang le meno a kantle, e holofalitsoeng ke polaka e potolohang ea elliptical ho hokahana le meno a kahare a gear ea spline e kantle.Likarolo tse ka sehloohong tsa "haronic reducer": Wave Generator, Flexspline le Circular Spline.Reducer ea rona ea harmonic e sebelisitsoe ka katleho masimong a litšebeletso le liroboto tsa indasteri.
