Mainly three basic harmonic drive components:
Harmonic Wave Generator: A component that induces controllable elastic deformation in the flexspline, usually consisting of an elliptical disk and a flexible ball bearing, or a rotating arm with rollers at both ends.
Flexspline: A thin-walled cylindrical external gear that is easily deformable, with triangular (or involute) tooth profiles.
Circular Spline: A rigid internal gear, also with triangular (or involute) tooth profiles, and has a few more teeth (usually two) compared to the flexspline.
Before assembly, the flexspline and its inner hole are circular. Once the wave generator is inserted into the inner hole of the flexspline, the flexspline is deformed into an elliptical shape. At this point, the teeth of the flexspline and circular spline are fully engaged along the major axis of the ellipse; in the minor axis direction, a radial gap is formed between the tooth tops, resulting in a completely disengaged state. As the wave generator rotates, the shape of the flexspline continuously changes, causing the engagement position between the flexspline and circular spline to constantly shift, thereby achieving the cyclic process of "engagement - meshing - disengagement - re-engagement". When the flexspline completes one full rotation, the harmonic reducer rotates many times. The ratio of the number of rotations of the harmonic wave generator to the number of rotations of the flexspline is the reduction ratio of the harmonic gear reducer, giving it a very high reduction ratio.
Industrial Robotics Field:
Multi-joint Industrial Robots: Used for precise speed control and position control at robot joints, enhancing the operation accuracy and flexibility of the robots.
Collaborative Robots: Meet the requirements of collaborative robots for high precision, low noise, safety (low inertia), and other aspects.
Automation Equipment Field:
CNC Machine Tools: Enable high-precision feed movements and other operations, improving machining accuracy and surface quality.
Semiconductor Manufacturing Equipment: For example, in parts like wafer handling robots and motion platforms of lithography machines.
Photovoltaic Equipment: Such as installation robots for photovoltaic panels and solar tracking systems.
Aerospace Equipment: Can be used in satellite antenna pointing mechanisms and spacecraft door opening and closing mechanisms, which require high precision and reliability.
Service Robotics Field:
Medical Service Robots: Such as robot arms in surgical robots and logistics distribution robots within hospitals.
Household Service Robots: Such as the robot harmonic drive in intelligent sweeping robots.
Machinery Processing Equipment Field:
Rotary Tables: Such as high-precision CNC rotary tables and testing equipment rotary tables.
Automated Assembly Lines: Used to drive and control various conveying and grabbing mechanisms.
New Energy Field:
New Energy Vehicles: For instance, in the motion joints of smart charging devices or mechanisms in the vehicle that require precise adjustment.
Wind Power Equipment: Such as yaw systems and pitch control systems.
