Check out this cool 1 minute YouTube Video on the operation of a Harmonic Drive Gearset, based on the following parameters-
>reduction ratio =1:16
>flex spline 32T
>circular spline 34T
Click on the link below.
http://www.youtube.com/watch?v=ZSSH-YfKg6I
Be one of the 250,000 people that have viewed it so far.