Harmonic drive

Lessons: Wave generator must push the middle of the teeth The outer gear must not deform Flexspline must not get stuck in oter gear Flexspline must not be too flexible or else the teeth will not come out of the outer gear More oval flexgear Smaller teeth Motor mounting hub modification for wave generator

Ratios: FlexSpline Output Flexspline teeth: 200 Circular Spline Teeth: 202 Ratio = 200/200-202 = -100:1 Output rotation opposite input rotation