Research progress of harmonic drive used in spacecraft
CANG Yuetian
HAO Hong
SUN Fanxin
LI Jian
ZHANG Kaifeng
ZHOU Hui
XING Zhenhua
Abstract：[Significance]The critical importance of harmonic reducers was elucidated for space deployable mechanisms such as antennas,solar arrays,and robotic arms.A comprehensive review of the research progress was provided on harmonic re-ducers used in domestic and foreign spacecraft from four perspectives:tooth profile design,wave generator structural design,material selection,and lubrication methods.[Analysis]The advantages,disadvantages,and applicable working conditions of dif-ferent tooth profile types for the rigid and flexible wheels in space harmonic reducers were summarized,including involute tooth profiles,circular arc tooth profiles,and other forms,and methods for tooth profile modification was introduced.Several design approaches were categorized for wave generator structures,including elliptical cams,dual-disc types,and composite curve cams.The material selection and common material grades for space harmonic reducers were presented,elaborating on the role of heat treatment processes.Furthermore,three primary lubrication methods were summarized for space harmonic reducers,grease lubri-cation,solid lubrication,and solid-liquid composite lubrication,detailing the pros and cons of each method along with common-ly used lubricants in space applications.In response to the development trends of high load capacity and extended service life for space harmonic reducers,future research priorities and developmental directions were proposed.
Keywords：Harmonic driveSpace deployable mechanismTooth profile designWave generator structure designMateri-al selectionLubrication method
Publication Date：2026-08-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：12( 47-57,168 )