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Harmonic reducer
Harmonic gear drive (also known as harmonic gearing) is a mechanical gear system that employs a flexible spline with external teeth; by rotating an elliptical cam, the spline is deformed to mesh with the internal teeth of an external gear.
Wave gears offer several advantages over conventional gear systems such as helical or planetary gears, including:
No rebound,
Compact and lightweight,
High transmission ratio,
The ratio can be reconfigured within the standard enclosure,
It offers excellent resolution and outstanding repeatability when repositioning inertial loads (as indicated by linearity).
High torque capability,
Coaxial input and output shafts.
A higher gear reduction ratio can be achieved within a smaller footprint (in the same space, planetary gears typically deliver only a 10:1 reduction, whereas spur gear reducers can attain ratios from 30:1 to 320:1).
The drawbacks include a tendency to “wind up” (torsional spring rate) in the low-torque region.
Harmonic gears are commonly used in robotics [3] and aerospace. They can provide gear reduction, but they can also be employed to increase rotational speed.
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