HARMONIC MOTOR

摘要

The invention relates to a harmonic motor (1) comprising a fixed circular and internally geared stator (2), a flex spline coaxially arranged within the stator (2) where the flex spline (3) comprises both external (9) and internal gears (10), and a geared output shaft (4) coaxially arranged within the flex spline (3). The motor further comprises means for sequentially deforming the flex spline (3) into an ellipse shape internally meshing the output shaft. The number of teeth on the stator equals the external teeth on the flex spline such that the flex spline meshes at two lobes of the ellipse shape where every tooth on the flex spline meshes with the same counterpart tooth on the stator.