Harmonic gear reducers are finding increasingly widespread applications in various fields such as aviation, aerospace, energy, navigation, shipbuilding, biomimetic machinery, machine tools, instruments, electronic equipment, mining and metallurgy, transportation, lifting machinery, petrochemical equipment, textile machinery, and agricultural machinery. Particularly in high-dynamic performance servo systems, the use of harmonic gear transmission highlights its superiority. The power transmitted ranges from several watts to several kilowatts, but high-power harmonic gear transmission is predominantly used in short-term working environments.。