| 摘要 |
A harmonic friction drive comprises a rigid ring having a cylindrical inside surface of a given circumference, the inside surface being free of gear teeth. A member having a flexible tube portion is nested in the rigid ring. The flexible tube portion has an outer surface whose circumference is smaller than the given circumference. The outer surface is also free of gear teeth. A wave generator pushes the outer surface of the flexible tube portion into frictional engagement against the inside surface of the ring, at two or more zones of contact along the inside surface and rotates the two or more zones of contact about the inside surface of the ring. The difference in circumference between the outside surface of the flexible tube portion and the inside surface of the ring causes the flexible tube portion to rotate a small amount relative to the ring upon each complete revolution of the wave generator.
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