| 摘要 |
A robotic harmonic flex-drive has an outer generally cylindrical spline having inner diameter gear teeth and an inner generally cylindrical spline having outer diameter gear teeth concentric to the outer spline. A wave generator including a pair of rollers disposed adjacent to an outside surface of the outer spline and an inner surface of the inner spline deforms the outer and inner splines into ellipses whereby the inner diameter gear teeth of the outer spline engage the outer diameter gear teeth of the inner spline at a pair of diametrically opposed points along a major axis of the deformed outer and inner splines.
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