Robotics Harmonic Drive Servo Motor Reduction Gear Circular Spline

Wave Generator is typically an elliptical ball bearing assembly that fits inside the flexspline. It deforms the flexspline into an elliptical shape, causing it to engage with the teeth of the circular spline at two opposite regions.

Flexspline is a thin, flexible, cylindrical gear with external teeth. It deforms elastically to the shape of the wave generator.

Circular Spline is a rigid ring with internal teeth. It remains stationary or can be the output member of the system. The interaction between the teeth of the circular spline and the flexspline generates the gear reduction.

Operation 

• When the wave generator rotates, it causes the flexspline to engage and disengage with the circular spline's teeth in a manner that results in the flexspline rotating at a reduced speed compared to the wave generator. The reduction ratio is determined by the difference in the number of teeth between the flexspline and the circular spline.

Permissible maximum input rotational speed

(Grease)

Permissible average input rotational speed

(Grease)