Abstract The motion error source and frequency characteristic of harmonic drive (HD) with three-wave generator is analyzed to study the beat frequency phenomena of harmonic drive with three-wave generator．The mechanism of producing the beat frequency phenomena of harmonic drive with three-wave generator iS obtained．which provide a theoretical basis for research on the dynamic characteristic of harmonic drive with three-wave generator．
ZHONG Jian. Theoretical research on beat frequency phenom ena of harm onic drive with three-wave generator. Chinese Journal of Engineering Design, 2003, 10(3): 162-165.
