Abstract: A wave generator (4) of a wave gear device (1) is formed from a material in which only the minor axis-side portions (51, 52), which include the two end portions (51a, 52a) of an elliptical minor axis Lmin, has a larger coefficient of linear expansion than the other portions. When the temperature of a rigid cam plate (5) increases during high-speed rotational input, the minor axis-side portions (51, 52) thermally expand considerably more than the other portions do, and balls (10) other than several balls (10b) on a minor axis Lmin of a wave bearing (7) enter a tight state and form a locked state in which the wave bearing (7) rotates integrally with the rigid cam plate (5). Since the generation of agitation resistance of the lubricating agent due to the high-speed rolling movement of the balls (10) during high-speed rotational input can be avoided or reduced, a reduction of the torque transmission efficiency caused by the agitation resistance can be prevented or inhibited.

Abstract: A lock pin-type automobile synchronizer includes a higher gear conical ring (1) and a lower gear conical ring (4) which are arranged at the sides of a sliding gear sleeve (3). A higher gear lock pin (2) is fixed to one side of the higher gear conical ring (1). A lower gear lock pin (5, 6) is fixed to one side of the lower gear conical ring (4). A pin hole corresponding to the higher gear (2) lock pin and the lower gear lock pin (5, 6) is arranged on the sliding gear sleeve (3). The number of lower gear lock pins (5, 6) is higher than the number of higher gear lock pins (2).

Abstract: A reduction unit, particularly of the epicyclic type, comprising a casing for the rotary support and containment of an input shaft, of an output shaft, and of at least one reduction stage that is interposed between them, the input shaft being able to rotate by an actuation shaft of a motor, which can be associated monolithically and coaxially with the input shaft. The reduction unit comprises at least one fan, which is arranged substantially coaxially to the input shaft, proximate to the reduction unit, and is supported even indirectly by one of the shafts.

Abstract: A drive system includes a pulley, an engine, a variator including an input and an output, for varying a ratio of output speed and input speed, and a gearset driveably interconnecting the input, the output, the engine and pulley.

Abstract: A drive system includes a pulley, an engine, a variator for varying a ratio of an output speed and an input speed, a gearset including a first and second components driveably connected to the engine and pulley, respectively, and a third component connected to the output, and a second gearset for increasing an input speed relative to an pulley speed.

Abstract: A vehicle steering control system includes a variable transmission ratio device that rotates an output shaft relative to an input shaft so as to change the transmission ratio, and a locking device that is switched between a lock-on state in which the transmission ratio between the input shaft and the output shaft is inhibited from being changed and a lock-off state in which the transmission ratio between the input shaft and the output shaft is allowed to be changed. The variable transmission ratio device includes an electric motor and a speed reduction mechanism. The locking device inhibits the input shaft and a rotor of the electric motor from rotating relative to each other when placed in the lock-on state, and allows the input shaft and the rotor to rotate relative to each other when placed in the lock-off state.

Abstract: It is an object of the present invention to provide an injection-molded article such as a resin-made cage, a resin-made seal, a resin-made sliding bearing, and a resin-made gear having reliable flowability, enhanced mechanical strength and toughness, and improved wear resistance. A resin composition is composed of a biodegradable polyester polymer particularly polybutylene succinate to which not less than 10 wt % nor more than 40 wt % of a fibrous inorganic reinforcing material and not less than 0.5 wt % nor more than 10 wt % of polycarbodiimide resin are added. The injection-molded article is obtained by injection molding the resin composition.

Abstract: A finger joint mechanism (1) having two wave gear reduction drives (20, 30) disposed coaxially with each other, in which rotational force of a motor (40) is transmitted to a rotation input shaft (13) common to the drive gears through a driving bevel gear (42) and a driven bevel gear (43). Output shafts (11, 12) are formed integrally with bosses (24, 34) of the cup-like flexible external gears (22, 32) of the wave gear drives (20, 30), and mounting arms (9, 10) of a rotating member (3) are fixedly connected to the output shafts. The wave gear reduction drives, which can be easily reduced in size, are used as the reduction gears for a rotary actuator (5) assembled in the finger joint mechanism. Since the finger joint mechanism uses the two wave gear reduction drives, the rate of increase in torque capacity against the rate of increase in an installation space is much higher than a case where one gear reduction drive with a large model number is used to increase torque capacity of the mechanism.

Abstract: An accessory system includes a generator integrally mounted with an accessory gearbox such that a drive gear of the generator is in meshing engagement with the geartrain.

Abstract: A heavy-duty drive arrangement for a mill having a grinding bowl ratable about a vertical axis comprises a housing, an electric motor, and a gearing arrangement disposed in the housing and supported on the housing. The grinding bowl can be driven by means of the electric motor via the gearing arrangement. The electric motor is disposed below the gearing arrangement. The electric motor is integrated in the housing. Advantageously, the electric motor is supported on the housing particularly on a bottom element of the housing. The rotor can be connected directly, or via a coupling integrated in the rotor, to a gear of the gearing arrangement. The mill may be, for example, a roller bowl mill.

Abstract: A gear set for a transmission for use in limited space and capable of transmitting relatively large amounts of power with a small diameter of the gear sets, comprising a series of helical gear elements having stub shafts extending laterally from either side thereof, each of the stub shafts having teeth formed at the remote ends thereof and a central axial bore extending through each gear element and a coupler adapted to engage the teeth on adjacent gear elements join gear elements in driving contact. The gear set having a relatively large effective diameter, and a tension rail extending through the axial bore in the gear elements with retainers at either end of the tension rail so as to effectively permit limited axial movement along the tension rail while preventing inadvertent disengagement.

Abstract: A wind turbine is provided having a tower, a nacelle supported by the tower and a rotor with one or more blades and a hub. A gearbox is connected to the rotor and includes one or more gears having a wear indicating line that facilitates identification of gear wear. The wear indicating lines are located on side surfaces of the one or more gears.

Abstract: A sealing device is provided. The sealing device is for sealing a space formed by an inner shaft and an outer shaft and for directing a flow of fluid, the inner shaft and the outer shaft being rotatable about a common coaxial axis. The sealing device includes an inner seal element adapted for being coupled to the inner shaft so that the inner seal element is locked against rotation relative to the inner shaft, the inner seal element including a first inner sealing surface. The sealing device further includes an outer seal element adapted for being coupled to the outer shaft so that the outer seal element is locked against rotation relative to the outer shaft, the outer seal element including a first outer sealing surface.

Abstract: This invention relates to a transmission structure of meat tumbler, in which one end of drum's axle, extending toward a control box, of the meat tumbler is assembled with a gear, and a reduction machine is installed in the control box. A gear of the reduction machine meshes with the gear of the drum. A motor coupled to the reduction machine is provided within the control box. Essential benefits such as quiet operation process, effective power transmission, and prevention of improper parts stripping can be achieved by this stable transmission structure.

Abstract: A direct drive electric seed metering system is provided for use with a row crop planter or seed planter that intakes a volume of multiple seeds from a seed hopper, draws individual seeds from the volume of multiple seeds and discharges them into a seed furrow formed in an agricultural field. The direct drive electric seed metering system includes a meter assembly having a meter housing and a seek disk rotatably mounted concentrically in the housing for singulating the seeds. A direct drive mechanism is mounted to the meter assembly for interfacing and driving the seek disk at an angular velocity which corresponds to the travel velocity of the seed planter. A single seed planter can have multiple direct drive electric seed metering systems, and each of the multiple direct drive electric seed metering systems preferably has its own prime mover to effectuate driving the seek disk.

Abstract: A steering apparatus for a vehicle capable of executing a steer-by-wire (SBW) mode of steering road wheels by a steering mechanism mechanically disconnected with a steering device. The steering apparatus includes a clutch which is composed of a shaft that rotates together with the steering device, an internal gear ring which has a rotation center coinciding with that of the shaft and transmits its rotation to the steering mechanism, an external gear ring partially intermeshed with the internal gear ring, lock members which transmit/disconnect the rotation of the shaft to the external gear, and a lock operating member for displacing the lock members to lock/unlock positions.

Abstract: An adapter (21) for tapping used in a turret punch press, comprises: a ring gear (29) in which a tapping tool (25) is mountable; and a gear holder (31) in which the ring gear is disposed and which is mountable on a turret (9) of the turret pinch press so as to locate the disposed ring gear (29) at a position corresponding to a punch mounting section (33) formed in advance in the turret (9) of the turret punch press.

Abstract: A field-oriented control method for an electric drive comprising a plurality of electric motors, for implementing a tension mechanism, especially for load cable and/or gearing means, using measurements of a polyphase motor actual current. The measured values are transformed into a direct current component and a quadrature current component, based upon a magnetic rotor field or flux angle, in a rotor flux-based d,q coordinate system. The quadrature and direct current components from the actual current are subjected to a comparison with predetermined quadrature and direct current components of a current command value.

Abstract: The present invention relates to a system for transmission of power comprising of a motor connected to a step down gear box connected to series of two step-up gear boxes through a coupling (C1), wherein said two step-up gear boxes are separated by another coupling (C2) such that the ratio of the radius of C1 to C1 is in the range of 1.4 to 1.9.

Abstract: The image forming apparatus includes a cover member attached to and detached from a main body in a sliding manner, and achieves power transmission from the main body to driving elements of the cover member through an electronic clutch, thereby simplifying a power transmission structure and improving reliability.

Abstract: A water-removal bucket includes a frame, a pedal, a spur gear, a first bevel gear, a second bevel gear and a basket. The pedal is pivotally connected to the frame and meshes with the spur gear. The first bevel gear is connected to the spur gear via a linking shaft and meshes with the second bevel gear. The basket is connected to the second bevel gear via a driving shaft.

Abstract: A frictional drive device comprises a pair of drive disks (48) each rotatably supported by a frame (2, 42) around a central axial line (A) in a mutually opposing relationship, and a pair of actuators (64) supported by the frame for individually rotatively actuating the drive disks and coaxially disposed with respect to the corresponding drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (85) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member.

Abstract: A wave reduction gear (5) is disposed inside a device case (2) of a rotating table device (1). Lubrication oil is sprayed from an oil supply channel (22), which is formed in the device case (2), toward an oil supply hole (22) formed in a cup-shaped flexible externally toothed gear (12). A wave bearing (19) disposed in the interior is lubricated via the oil supply hole (21). Lubricating oil that has entered into the flexible externally toothed gear (12) is forcibly suctioned to the exterior via an oil recovery channel (23) that is formed in the device case (2). Accordingly, it will be possible to prevent oil from being suctioned due to the negative pressure state in the interior of the flexible externally toothed gear accompanying the high-speed rotation, and regions of the wave bearing (19) can be reliably lubricated.

Abstract: There is provided a slide part used in an environment where there is a lubricant containing a molybdenum compound including a hard protective layer formed on an outermost surface of a substrate of the slide part; in which: the hard protective layer includes mainly carbon, nitrogen, and a metal element; the hard protective layer is composed of a complex of an amorphous carbon body containing nitrogen and a compound crystal of the metal element; the compound crystal is composed of at least one of a metal carbide, a metal nitride, and a metal carbonitride; and a surface hardness of the hard protective layer is 1800 or larger in Vickers hardness.

Abstract: A robotic harmonic flex-drive has an outer generally cylindrical spline having inner diameter gear teeth and an inner generally cylindrical spline having outer diameter gear teeth concentric to the outer spline. A wave generator including a pair of rollers disposed adjacent to an outside surface of the outer spline and an inner surface of the inner spline deforms the outer and inner splines into ellipses whereby the inner diameter gear teeth of the outer spline engage the outer diameter gear teeth of the inner spline at a pair of diametrically opposed points along a major axis of the deformed outer and inner splines.

Abstract: In an automatic torque-switching apparatus (1), a fixed member (12) of a reduction device (8) is attached to an apparatus housing (2) via a one-way clutch (9) so as to not rotate in the direction of torque acting on the fixed member from the load side. A rotational input member (13) of the reduction device (8) and the fixed member (12) of the reduction device are linked via a torque limiter (10) so as to rotate integrally only when the torque acting on the fixed member (12) is less than or equal to a prescribed value. The speed reducing operation is not performed while the torque is less than or equal to the prescribed value, and the rotation of a motor (3) is output directly. When the torque exceeds the prescribed value, the reducing operation is performed, and a switch is automatically made to a rotational output having reduced speed and a large torque.

Abstract: A lifter assembly for actuating a needle of an automatic medication delivery device, includes a motor, a speed reduction device driven by the motor, an output shaft driven by the speed reduction device via a rigid transmission device, a driving lever configured to move the needle, the driving lever being connected to and driven by the output shaft, and a sensing device configured to sense the rotation position of the output shaft. The speed reduction device comprises a worm in mesh with a worm gear. The output shaft, the worm gear and the rigid transmission device cooperatively constitute a four-bar linkage mechanism.

Abstract: An integrated gearbox/encoder and control system that includes: a gearbox with an output shaft connected to a mechanical load; a first sensor detecting the rotary position of the output shaft; a motor; a second sensor detecting the rotary position of the motor; and a system controller controlling motive drive to the motor. The two rotary position sensors permit direct determination of gearbox backlash which can be used in motor control. A drive current sensor similarly permits determination of a vibration signature for comparison with a standard.

Abstract: A plug-in hybrid vehicle drive system, including an internal combustion engine for driving one or more wheels of a vehicle, at least one on-wheel electrically powered motor, the motor coupled to a speed reduction mechanism, the speed reduction mechanism coupled to a vehicle wheel for driving at least one wheel of the vehicle, a battery located in the vehicle and connected to the at least one on-wheel motor for supplying power to the on-wheel motor, a battery charger including an AC/DC power converter, and an AC outlet connector in communication with the battery charger for receiving power from an external source.

Abstract: The invention relates to a gearbox device, in particular, for a hammer drill or chisel, with a torque transmission mechanism, which has a first torque transmitting region for transmission of a torque to a first component and at least one second torque transmitting region for transmitting a torque to a second component. According to the invention, the first torque transmitting region and the second torque transmitting region at least partly have a corresponding partial contour for transmitting the torques.

Abstract: A bending state known as “coning,” in which the amount of bending of the flexspline gradually decreases in accordance with the distance from the open end of the spline, occurs in cup-type or “silk hat”-type wave gear devices. A tooth profile in which the tooth depth is kept constant and in which the bottom lands and top lands are parallel to each other along the tooth trace direction is used as the basic tooth profile for the circular spline and the flexspline of the wave gear device. A taper surface is formed on a part of the top land near the open end of the flexspline in the basic tooth profile, whereby a modified tooth profile is obtained. The modified tooth profile is employed as the tooth profile for both of the splines. Both of the splines can be caused to mesh together without generating coning-induced interference. Both of the splines can also be subjected to gear cutting by a simple process using a typical machining mechanism.

Abstract: The present invention relates to a low cost technique for manufacturing dual helical gears, such as herringbone gears, from powder metals. The dual helical gears made by this technique are of high density (greater than 92% of theoretical density) and offer superior strength. The present invention more specifically discloses a forged metal herringbone gear which is comprised of a body and a plurality of teeth wherein the metal has a density of greater than 92% of theoretical and wherein the grain in the teeth is one range higher on the ASTM E 112 grain size chart than the grain in the body of the gear.

Abstract: An internal gear manufacturing method capable of manufacturing time reduction and easy core removal, and a metallic glass internal gear manufactured thereby. A carbon core formed into a shape of an external gear is arranged in a thin, long tubular mold of a length equal thereto with a space extending longitudinally therealong. A molten metal material is pressure-injected under a temperature higher than a melting point thereof into the space between the mold and the core. The molten metal material is resolidified by rapid cooling at or above a critical cooling rate thereof together with the mold and the core. After resolidification of the molten metal material, the core is removed by pulverization or dissolution. Along internal gear formed of the resolidified metal material is cut into a plurality of segments of a prescribed length.

Abstract: A main shaft for a transmission or a countershaft for a transmission shall be constructed in an especially light-weight manner. The transmission of high torques, such as is the case for the main shaft or countershaft for a transmission, is problematic when the base body of the shaft consists of a fiber composite material. A metal element (20, 22) is now laminated into the base body, and a gearwheel (28, 30) can then be connected to this metal element (20, 22) in a force-fit manner, so that high torques can be transmitted.

Abstract: A tong assembly includes a case assembly having an enclosure defining an interior. A bearing assembly is disposed in the interior of the enclosure. The bearing assembly includes a first bearing member defining a first cavity and a second bearing member defining a first cavity. A tong head assembly is disposed in the interior of the enclosure of the case assembly. The tong head assembly includes a tong head engaged with an outer ring gear. The outer ring gear includes a first axial end portion, an oppositely disposed second axial end portion and a central portion. The first axial end portion is disposed in the first cavity of the first bearing member. The second axial end portion is disposed in the first cavity of the second bearing member.

Abstract: Metal coated organic polymer compositions are useful as vehicular transmission parts. Such parts may have lighter weight, and/or superior corrosion resistance, and/or be more easily fabricated than similar conventional transmission parts.

Abstract: A flat type wave gear device is realized having a much improved load capacity. When d is an amount of radial flexing at a major axis location of a rim neutral circle of the flexible external gear of a flat type wave gear device flexed into an elliptical shape and t is the rim thickness of the flexible external gear, then (0.5237 Ln(R)?1.32)d?t?(0.8728 Ln(R)?2.2)d when the reduction ratio R of the wave gear device is less than 80, and (1.5499 Ln(R)?5.8099)d?t?(2.5832 Ln(R)?9.6832)d when the reduction ratio R of the wave gear device is 80 or more. Using this setting makes it possible to increase the tooth root fatigue limit strength of the flexible external gear, thereby making it possible to improve the load capacity of the flexible external gear.

Abstract: A generator system is disclosed. The generator system includes an input gear, a gear train coupled to the input gear, and a clutch associated with the input gear, wherein the clutch is exposed to the gear train.

Abstract: Provided is a refrigerator including a main body provided with a chilly storage, a refrigerator door rotatably coupled to the main body, a home bar at the refrigerator door, the home bar being provided with an opening, and a basket on an inside of the home bar, the basket being configured to store an object, wherein the home bar includes a home bar door rotatably provided on a side of the opening, and a driving device providing a driving force to vertically move the basket according to rotation of the home bar door. A gear assembly is operated while the home bar door is opened or closed, so that the home bar basket can easily move upward or downward.

Abstract: A variable transmission ratio apparatus for effectively preventing ratcheting between a flexible spline and a circular spline caused by a steering operation performing in a locked state. A variable transmission ratio apparatus includes a strain wave gear mechanism for adding rotation resulting from motor drive to rotation from an input shaft resulting from a steering operation and transmitting the added rotation to an output shaft, a housing accommodating the strain wave gear mechanism and the motor and fixed to a non-rotating portion, and a lock device for locking the housing and a motor shaft in a manner prohibiting relative rotation therebetween. Among the circular splines forming the strain wave gear mechanism, the number of teeth of the circular spline connected to the output shaft is greater than the number of teeth of the circular spline connected to the input shaft.

Abstract: The technology herein relates to rotating a second structure, which can be a turret, relative to a first structure, which can be a vehicle. The system can include a motor unit having a motor with a motor gear to rotate a drive shaft and a drive gear. A manual input shaft can also be configured to transmit rotation to the drive shaft. The motor can have a central axis that forms an angle of less than 90 degrees with a plane substantially defined by an outer surface of a gear box coupled to the motor. A mounting bracket is configured to allow mechanical communication between the motor unit and an internal ring gear. The mounting bracket has a mounting frame defining at least a first slide channel. A first motor unit coupler has a slide flange that is slidably received by the mounting frame and receives a motor unit. The internal ring gear can be mounted to a vehicle and a turret can be pivotably disposed within the internal ring gear.

Abstract: An angle drive with two shafts (12, 15) which are drivingly connected to one another and whose axes (A1, A2) intersect one another at an angle, wherein on each of the shafts (12, 15) there is firmly arranged at least one gearwheel (19, 20, 21) and wherein there is provided a hollow gear (17) with an axis of rotation (A3) and wherein the gearwheels (19, 20, 21) engage the hollow gear (17).

Abstract: In a cup-type or “silk hat”-type wave gear device (1), the rim thickness t of the flexible externally toothed gear (3) thereof satisfies the relations (0.5237Ln(R)?1.32)d?t?(0.8728Ln(R)?2.2)d if the reduction ratio R of the wave gear device is less than 80, and (1.5499Ln(R)?5.8099)d?t?(2.5832Ln(R)?9.6832)d if the reduction ratio R is equal to or greater than 80, where d is the radial deflection, measured at the position of the major axis of the neutral circle of the rim, in a state in which the flexible externally toothed gear is bent into an elliptical shape. The effective face width L of the external teeth (35) is a value within the range of 21 to 30% of the pitch circle diameter. Such settings make it possible to increase the bottom fatigue strength of the flexible externally toothed gear and improve the load capacity of the wave gear device (1).

Abstract: The flexible bearing of the wave generator for a wave gear device is a deep-groove ball bearing in which an outer race and an inner race form an annular flexible bearing ring capable of bending in a radial direction. A ball diameter Da is set to be 5 to 15% greater than that of each model of the currently available product, and dimensions of orbital plane radii ro, ri of the inner and outer races are set so that the ratio ro/Da of the orbital plane radius ro of the inner race and the ball diameter Da, as well as the ratio ri/Da of the orbital plane radius ri of the outer race and the ball diameter Da, are both 0.8 to 2% less than those ratios in each model of the currently available product. When the ball diameter and the orbital plane radii are thus set, it is possible to substantially extend the service life of the flexible bearing.

Abstract: In an actuator (1) in which an angle detector (13) of a magnetic encoder for detecting the rotational position of a motor (3) is incorporated inside a wave reduction gear (5), detection signals from Hall elements (11a, 11b) of the angle detector (13) are transmitted via sensor lead wires (17) that have been brought out through wiring holes (36a, 33a, 35a, 37a) formed inside the motor (3) to a sensor signal converter board (14) disposed on the rear end side of the motor. Since the wiring is not required to be brought out to the exterior, indirectly routed along the exterior of the motor (3), and brought out to the rear side thereof, the wiring is not mechanically damaged and can be brought out with the shortest possible wiring distance, and the effect of electromagnetic noise can be reduced.

Abstract: A parallel link mechanism arranged between a fixed base and a movable base includes a harmonic drive gear reducer, a first arm, a second arm, a connection base, a first auxiliary link, and a second auxiliary link. The harmonic drive gear reducer has a body, an input shaft, a first output shaft, and a second output shaft. The first arm has a proximal end pivotally connected to the fixed base and a distal end connected to the body of the reducer. The second arm has a proximal end connected to the second output shaft and a distal end pivotally connected to the movable base. The connection base is arranged outside the second arm with respect to the reducer and connected to the first output shaft. The first auxiliary link is arranged parallel with the first arm and has an end pivotally connected to the fixed base and an end pivotally connected to the connection base.

Abstract: The present invention provides a method for manufacturing a rigid internal gear for a wave gear device comprising an internally toothed portion and a gear main body portion comprised of different materials. In this method, a gear main body ring for forming a gear main body portion is preformed using a first aluminum alloy powder; an internal teeth-forming ring is preformed using a second aluminum alloy powder that has lower processability, is less durable, has higher abrasion resistance, and is harder than the first aluminum alloy powder; the internal teeth-forming ring is fitted inside the gear main body ring and the assembly is integrated by powder forging; and the resulting ring-shaped forging is subjected to post-processing, including cutting teeth. The gear main body portion and internally toothed portion are securely integrated by powder forging, and a lightweight rigid internal gear with high durability can therefore be obtained.

Abstract: A rigid internal gear and a flexible external gear of a wave gear drive are spur gears of module m. The number of teeth of the external gear is smaller by 2n (n is a positive integer) than that of the internal gear. The deflection of the major axis of the elliptical rim neutral line on the principal cross-section of the external gear is set at 2?mn (?<1). On the principal cross-section, the meshing of both gears is approximated by rack meshing. The locus M of movement of a tooth of the external gear caused by the rotation of a wave generator is determined. A part AC of the locus M of movement from the inflection point A of the locus M of movement to the deepest position B of meshing is determined on the entering side of meshing of the teeth toward the major axis of the locus M of movement.

Abstract: A coaxial transmission, especially a hollow shaft drive, comprising a driving element (7) and a driven element (3), a plurality of radially mobile toothed quadrants (5) providing a gear ratio and transmitting a driving torque between the driving element (7) and the driven element (3). An internal gear (1) or especially the housing for receiving the inner gearing of the internal gear (13) are configured as a multipart structure.

Abstract: A harmonic gear drive includes: a rigid spline; a flexspline including an attachment portion, teeth, and a thin-walled flexible portion provided between the attachment portion and the teeth; and a member attached to the thin-walled flexible portion. The member is made of a material whose elastic modulus is lower than that of the flexspline.