以下为句子列表：
英文: On the basis of prime principle of harmonic drive, we have studied the tenet and kinematic features of the four-tooth difference harmonic drive in this paper.
中文: 摘要从谐波传动的基本原理出发，对四齿差谐波齿轮传动的原理及运动学特征进行了研究。
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英文: The harmonic drive and planetary gear transmission were carried on as examples for comparison, which lead to the results that the driving error of harmonic drive is greater than that of planetary gear transmission and the hysterisis error is smaller than
中文: 在此基础上，对谐波齿轮传动装置与行星齿轮传动装置进行实例对比分析，指出在闭环伺服系统中，谐波齿轮传动装置比行星齿轮传动装置的回程误差小，但谐波齿轮传动装置的传动误差对系统的影响大于行星齿轮传动装置。
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英文: There are mainly four standard series for the products, XB1 Single-Stage Harmonic-Drive Reducers and Components Sets, XB2 High Ratio Dual Harmonic Drive Reducers and Components Sets, XB3 Pancake-Type Harmonic Drive Component Sets and Phase Adjuster Harmon
中文: 公司产品主要有以下四个标准系列：XB1单级谐波传动减速器和组件、XB2内啮复波谐波传动减速器和组件、XB3扁平式谐波传动减速器和组件、XBF相位调节器用谐波传动减速器和组件,年产已达万台套。
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