Circular Spline Strain Wave Harmonic Drive Gearing Reducer for Robotics

Components

1. The wave generator is made of two separate parts: an elliptical disk called a wave generator plug and an outer ball bearing.

2. The flex spline is shaped like a shallow cup. The sides of the spline are very thin, but the bottom is relatively rigid. This results in significant flexibility of the walls at the open end due to the thin wall, and in the closed side being rigid enough to be tightly secured.

3. The circular spline is a rigid circular ring with teeth on its inside. The flex spline and wave generator are placed inside the circular spline, meshing the teeth of the flex spline and the circular spline.