Abstract: In a flexible type transmission device, an angular ball bearing is interposed between an output member and a fixed case so as to support the output member and the fixed case while permitting relative rotation between the output member and the fixed case. The loads acting on the output member and fixed case are received using the rolling contact of steel balls included in the angular ball bearing.

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.