| 摘要 |
A harmonic gear drive includes a flexspline and a rigid spline which are meshed with each other, and a wave generator which deforms the flexspline to displace meshing points between the flexspline and the rigid spline. The length of each contact part between the flexspline and the wave generator always becomes shorter as viewed in a sectional plane containing a rotation axis of the wave generator than the width of the wave generator.
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