| 摘要 |
A strain wave gearing comprising a circular spline, flexspline disposed inside the circular spline, a wave generator for deforming the flexspline into, for example, an ellipsoid and a motor for rotating the wave generator to produce a relative rotation between the flexspline and the circular spline. The strain wave gearing is sometimes termed a harmonic drive transmission. In the strain wave gearing, the tooth face of each of the splines is formed in line with a mapping curve which is a similarity transformation having a reduced scale of 1/2 applied to a movement locus of the flexspline to the circular spline in accordance with the configuration of the wave generator, the transformation being effected on a reference point where the splines are transferred from the contact condition to a disengagement from each other. Thus, the teeth of the flexspline engage with those of the circular spline in the broad extent of the engagement region.
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