The transmission method of harmonic gear reducers

Release date:

2025-07-11

Like planetary gear drives, harmonic gear drives also consist of three basic components:

Like planetary gear drives, harmonic gear drives also consist of three basic components: a fixed internal rigid ring gear, a flexible wheel (whose base is connected to the output shaft via an elastic thin-walled cup—specifically, "a toothed ring is machined along the generating line at the start of the flexible wheel"), and a wave generator that induces radial deformation in the flexible wheel. Both the rigid and flexible wheels have teeth cut with the same module but differ in the number of teeth—specifically, the flexible wheel has two fewer teeth than the rigid wheel. The difference in the number of teeth directly corresponds to the number of deformation waves in the flexible wheel. The most common type of harmonic drive features a wave number of \( w - 2 \). In its free, unpowered state, the two gears are perfectly concentric, with uniform gaps between all their respective teeth. However, when the wave generator is activated, it causes the flexible wheel to deform radially, transforming it into an elliptical shape.
At this point, along the major axis of the ellipse, the teeth engage across their entire working height, while on the minor axis, a radial clearance forms between the tooth tips. As the generator rotates, the shape of the flexible gear consistently remains close to the one described above.

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The transmission method of harmonic gear reducers

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