| 摘要 |
A harmonic gear drive is provided to decrease a contact area between a flexible spline and a wave generator, thereby reducing a noise due to slippage between the flexible spline and the wave generator and thus preventing the decrease in a service life of the gear drive. A flexible spline(3A) and a rigid spline are meshed with each other, and a wave generator(4A) deforms the flexible spline to displace meshing points between the flexible spline and the rigid spline. A length of each contact part between the flexible spline and the wave generator becomes shorter in a sectional plane containing a rotation axis of the wave generator than a width of the wave generator. |
