Abstract: A drive assembly with selective disconnect includes a motor with a motor drive shaft; a harmonic drive coupled to one end of the motor drive shaft; an output shaft coupled to the harmonic drive; and a retracting mechanism that selectively retracts the motor drive shaft axially to decouple the motor drive shaft from the harmonic drive.

Abstract: A drive assembly with selective disconnect includes a motor with a motor drive shaft; a harmonic drive coupled to one end of the motor drive shaft; an output shaft coupled to the harmonic drive; and a retracting mechanism that selectively retracts the motor drive shaft axially to decouple the motor drive shaft from the harmonic drive.

Abstract: A harmonic drive is provided and includes a toothed harmonic ring gear, a harmonic wave generator including a rotor element, which includes an outer three-lobe wave profile, and a stator element configured to drive rotation of the rotor element. The harmonic drive further includes a harmonic flex spine radially interposed between the harmonic ring gear and the rotor element. The harmonic flex spine includes a toothed portion and a bearing element rotatably supportive of the rotor element within the toothed portion. The toothed portion is disposed to register with the toothed harmonic ring gear at three contact points defined by the outer three-lobe wave profile in accordance with the rotation of the rotor element.

Abstract: A selectively disconnectable and reconnectable harmonic drive assembly of a rotary actuator is provided. The drive assembly includes a harmonic wave generator configured to rotate and disconnect and reconnect a harmonic drive of the actuator by moving radially inward to allow the disconnect of a flex spline from a ring gear and radially outward to allow the reconnect of the flex spline to the ring gear. With respect to the disconnect, roller bearings and a disconnect spring are configured to push the wave generator axially when a solenoid is activated, allowing the roller bearings to move radially inward. This movement releases an outward force on the flex spline, disconnecting the flex spline from the ring gear. The solenoid is deactivated so that a ball-lock sleeve is forced axially by a ball-lock-sleeve-return spring, and ball bearings are forced radially into a groove in a locked “disconnect” position.

Abstract: A harmonic drive is provided and includes a toothed harmonic ring gear, a harmonic wave generator including a rotor element, which includes an outer three-lobe wave profile, and a stator element configured to drive rotation of the rotor element. The harmonic drive further includes a harmonic flex spine radially interposed between the harmonic ring gear and the rotor element. The harmonic flex spine includes a toothed portion and a bearing element rotatably supportive of the rotor element within the toothed portion. The toothed portion is disposed to register with the toothed harmonic ring gear at three contact points defined by the outer three-lobe wave profile in accordance with the rotation of the rotor element.

Abstract: A selectively disconnectable and reconnectable harmonic drive assembly of a rotary actuator is provided. The drive assembly includes a harmonic wave generator configured to rotate and disconnect and reconnect a harmonic drive of the actuator by moving radially inward to allow the disconnect of a flex spline from a ring gear and radially outward to allow the reconnect of the flex spline to the ring gear. With respect to the disconnect, roller bearings and a disconnect spring are configured to push the wave generator axially when a solenoid is activated, allowing the roller bearings to move radially inward. This movement releases an outward force on the flex spline, disconnecting the flex spline from the ring gear. The solenoid is deactivated so that a ball-lock sleeve is forced axially by a ball-lock-sleeve-return spring, and ball bearings are forced radially into a groove in a locked “disconnect” position.

Abstract: A harmonic drive includes a first flexible gear and a second flexible gear disposed around the first flexible gear and coaxial with the first flexible gear. A first ring gear meshes with the first flexible gear, and a second ring gear meshes with the second flexible gear.

Abstract: A drive assembly with selective disconnect includes a motor with a motor drive shaft; a harmonic drive coupled to one end of the motor drive shaft; an output shaft coupled to the harmonic drive; and a retracting mechanism that selectively retracts the motor drive shaft axially to decouple the motor drive shaft from the harmonic drive.

Abstract: A harmonic drive includes a first flexible gear and a second flexible gear disposed around the first flexible gear and coaxial with the first flexible gear. A first ring gear meshes with the first flexible gear, and a second ring gear meshes with the second flexible gear.