A braking assembly for a strain wave gearing of a surgical robotic manipulator, the braking assembly including a first braking member fixedly coupled to an input portion of a strain wave gearing of a surgical robotic manipulator; and a second braking member fixedly coupled to an output portion of the strain wave gearing, and wherein during a braking operation the first braking member contacts the second braking member to mechanically brake the input portion to the output portion.