| 摘要 |
Apparatus for controlling a rotary shaft relative to a reference includes a strain wave drive having a specially shaped deformable ring gear for minimum stress. The wave generator part of the drive is normally caused to rotate with the input and output shafts connected to the drive's ring gears so that the two shafts are effectively keyed together. A tractive-type clutch assembly permits the wave generator to be rotated in one direction or the other relative to the deformable gear shaft so that the phase angle of the two shafts can be adjusted at a slow rate of speed dependent on the gear ratio of the drive. Also a tractive-type planetary assembly may be coupled between the clutch assembly and the wave generator so that the phase change may be accomplished at a plurality of speeds.
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