CSF CSG PDF - Harmonic Drive LLC

Principle and StructureGEARHEADCOMPONENT SETCross Roller BearingOutput FlangeCircular Spline(case)Wave Generator(input)FlexsplineWave GeneratorCircular SplineFlexsplineSystem ComponentsThe Flexspline is a non-rigid, thin cylindrical cup with external teeth on a slightly smaller pitch diameter than the Circular Spline.It fits over and is held in an elliptical shape by the Wave Generator.The WAVE GENERATOR is a thin raced ball bearing fitted onto an elliptical plug serving as a high efficiency torque converter.The CIRCULAR SPLINE is a rigid ring with internal teeth, engaging the teeth of the Flexspline across the major axis of the Wave Generator.0 ºCircular Spline90º 360ºWave GeneratorFlexsplineThe Flexspline is elliptically shaped by TheWave Generator and engaged with theCircular Spline at the major elliptical axis.The teeth completely disengage on theminor axis.When the Circular Spline is fixed andthe Wave generator rotates clockwise,the Flexspline is elastically deformedand rotates counterclockwise relative tothe Circular Spline.For each 360 degrees clockwisemovement of the Wave Generator,theFlexspline moves counterclockwise bytwo teeth relative to the Circular Spline.Harmonic Drive LLC 800-921-3332 5