Abstract: An apparatus and a method of rotatively empowering a harmonic drive transmission. The steps of the method include arranging a primary and a secondary cup-shaped flexspline co-axially within a rotatable rigid circular spline, and forming pivotable fingers in the secondary flexspline, biasing radially outwardly the pivotable fingers so as to contact and bias radially outwardly the primary flexspline in a sequential manner. The array of teeth between the primary flexspline and the circular spline engage one another to effect relative rotation therebetween. An array of piezo-electric elements is arranged in contact with the secondary flexspline and an adjacent non-rotating component. An electric current is sequenced through the piezo-electric elements to effect a dimensional change therein, thus to effect the biasing of the primary flexspline by the secondary flexspline.

Abstract: The invention comprises an actuator controlled harmonic drive transmission assembly for the speed and positional control of an output shaft of the harmonic drive transmission. The assembly includes a motor having a rotor shaft for providing rotational power to harmonic drive transmission and a control arrangement for permitting rotational positional and speed control between the rotor shaft and the output shaft of the harmonic drive transmission. The control arrangement may comprise an output speed, torque, vibration and/or rotational encoder mounted on the output shaft of the harmonic drive transmission. The control arrangement may comprise an output speed and rotational encoder mounted on the rotor shaft of the motor, each encoder feeding data to a control logic unit to control the motor driving the transmission.

Abstract: The invention relates to an apparatus and a method of rotatively empowering a harmonic drive transmission. The steps of the method include arranging a primary and a secondary cup-shaped flexspline co-axially within a rotatable rigid circular spline, and forming pivotable fingers in the secondary flexspline, biasing radially outwardly the pivotable fingers so as to contact and bias radially outwardly the primary flexspline in a sequential manner. The array of teeth between the primary flexspline and the circular spline engage one another to effect relative rotation therebetween. An array of piezo-electric elements is arranged in contact with the secondary flexspline and an adjacent non-rotating component. An electric current is sequenced through the piezo-electric elements to effect a dimensional change therein, thus to effect the biasing of the primary flexspline by the secondary flexspline.