Harmonic drive design and developments

Need of Harmonic drive are increasing in space application, weaponeering, telescopes, radar systems, antenna systems, humanoid robots, etc., Study of harmonic drive analysis such as determination of kinematic error, clearance, preparing test stand, theoretical modelling, optimization of harmonic drive and experimental behaviour is the need of hour. New advancement which is mainly based on materials analysis, structure, tooth profile,etc. An detailed literature survey have been done.In this work we have made an attempt to describe advancement of harmonic drive and future application in various sectors.