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A project log for Compact Strain Wave Gear Actuator(s)

A compact modular design of the strain wave gear for general robotic applications.

Leo VuLeo Vu 05/19/2019 at 03:440 Comments

Version 1.0 used a Deep Grove Ball Bearing instead of a Cross Roller Bearing. I just want to see how good the gear teeth meshed with each other.

This is the tooth template I used. It's a double arc profile for additional rigidity of the flex spline.

*Source: https://www.harmonicdrive.net/technology/harmonicdrive

And the meshing analysis: 

*Source: https://www.researchgate.net/publication/290977739_A_harmonic_drive_model_considering_geometry_and_internal_interaction/figures?lo=1

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