| 摘要 |
<p>The present invention relates to a harmonic drive and provides: first and second elastic bodies which are formed into a circular ring structure; and a flexspline which includes a plurality of fins in the shape of teeth such that one side portion thereof is coupled to the first elastic body and the other side portion is coupled to the second elastic body in order to symmetrically connect the first and second elastic bodies to each other. Therefore, the flexspline can be prevented from damage caused by excessive torques and repetitive distortion stress.</p> |
