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简要回顾了谐波传动技术的产生及其在各国的研究状况；较详细地论述了谐波传动技术在各领域中的应用；最后概括了目前谐波传动技术的研究内容及其发展趋势
A brief review of the generation of harmonic drive technology and its research status in various countries is given. The application of harmonic drive technology in various fields is discussed in detail. Finally, the research content and development trend of harmonic drive technology are summarized