| 摘要 |
To provide a harmonic drive gearing with high degree of freedom in terms of layout. A harmonic drive gearing 10 includes a circular spline 1 ', having outer teeth formed on an outer peripheral surface; an flexible spline 2 , positioned at the outside of the circular spline 1 ', and having inner teeth, which are engageable with the outer teeth of the circular spline 1 ', formed on an inner peripheral surface; and a rotor 16 which is disposed at outside of the flexible spline 2 and serves as a wave generator, wherein the rotor 16 deflects the flexible spline 2 by minor axis portions of the inner peripheral surface of the flexible spline 2 and engages the inner teeth of the flex spline with the outer teeth of the circular spline 1 ' and thereby the engagement position between the inner teeth and the outer teeth is adapted to move in a circumferential direction.
|
