WSD Simple Flexible Wheel Wave Generator Robot Harmonic Redu - North Carolina - Durham ID1524193

Harmonic drive was invented by American inventor C. Walt Musser in mid-1950s.

1. Composition of harmonic gearbox

harmonic gearbox has three basic components: a wave generator, a flex spline and a circular spline.

Wave generator: it is made up of a ball bearing and an elliptical cam.The wave generator is usually attached to the input end, the inner ring of the bearing is fixed around the cam causing the outer ring of the bearing deforms to an elliptical shape.

Flex spline: it is an elastic thin-walled component with gear teeth on outer surface . It is usually fitted to output end .

Circular spline: it is a rigid steel ring with internal teeth. It usually has two more teeth than the flex spline, and generally mounted onto a housing.