Table 1.

Adopted parameter values.

Parameter	Symbol	Flexspline	Circular Spline
Tooth number	z	200	202
Modul/mm	m	0.3	0.3
Pressure angle/$°$	$\alpha$	20	20
Tooth height coefficient	$h_a^{*}$	1	1
Bottom clearance	$c^{*}$	0.35	0.35
Tooth width/mm	b	12	12
Modification coefficient	xi	3.32	3.32
Radial clearance/mm	$\delta$	0.036	0.036
Materials density/kg·m−3	$\rho$	7750	7810
Young’s modulus/G·pa	E	204	200
Poisson’s coefficient	$\nu$	0.3	0.277
Hardness, H/HBS	H	200	200
Load torque/N·m	T	16	16