Abstract: The present invention comprises a novel harmonic drive transmission arrangement having an input member and an output member, and its method of manufcature. The transmission comprises a generally cylindrically-shaped housing including a circular spline gear arranged therein, and a cup-shaped flexspline with an array of radially outwardly directed gear teeth on a first end thereof, engaged with the circular spline teeth. A wave generator is rotatably supported on the input member radially inwardly of the gear on the flexspline. An annular diaphragm is arranged at a second end of the cup-shaped flexspline, and a flange is attached or integral to the diaphragm to permit the cup-shaped flexspline to be securely attached to the output member, the flange having a annular outmost surface thereon.