Abstract: A gear system wherein a harmonic drive or strain wave gearing set is efficiently and effectively coupled to a worm drive, where the harmonic drive or strain wave gearing serves as the input and the worm drive serves as the output. By using the harmonic drive or strain wave gearing set as the primary, a very large reduction ratio is achieved in a right angle package with high torsional stiffness. Further, at high worm ratios, the system can be non-back driving. At low ratios, worm gearing can be highly efficient. This, combined with the harmonic drive or strain wave gearing set being used as the primary, provides a high ratio, highly efficient gear system.

Abstract: A gear system wherein a harmonic drive or strain wave gearing set is efficiently and effectively coupled to a worm drive, where the harmonic drive or strain wave gearing serves as the input and the worm drive serves as the output. By using the harmonic drive or strain wave gearing set as the primary, a very large reduction ratio is achieved in a right angle package with high torsional stiffness. Further, at high worm ratios, the system can be non-back driving. At low ratios, worm gearing can be highly efficient. This, combined with the harmonic drive or strain wave gearing set being used as the primary, provides a high ratio, highly efficient gear system.

Abstract: A harmonic or strain wave gearing set coupled to a worm drive. By providing that a harmonic or strain wave gearing set is coupled to a worm drive, the benefit of being able to provide an input at an angle (such as a ninety-degree angle) to the output is realized along with the benefit of providing a harmonic or strain wave gearing set. Preferably, the worm drive is used as the primary, as the use of the worm drive as the primary uniquely changes the dynamics of the system, when compared to the opposite (i.e., using the harmonic or strain wave gearing as the primary). Harmonic or strain wave gearing provides a more flexible solution than a worm gear. In a system where the zero backlash is required, a split worm can be used as the input, and the harmonic or strain wave gearing would be the output member. Furthermore, a low ratio, efficient, worm gear can drive a high ratio harmonic or strain wave gearing set, thus providing a high ratio, highly efficient solution.

Abstract: A bearing arrangement for harmonic or strain wave gearing, wherein the bearing arrangement comprises a mating gear, a wave generator, and gearing between the mating gear and the wave generator. The flexible gearing comprises gear teeth which are engaged with corresponding gear teeth on the mating gear. A plurality of rollers is disposed between the flexible gearing and the wave generator. The rollers may be engaged by a roller cage which is also disposed between the flexible gearing and the wave generator, thereby preventing the rollers from contacting each other and preventing roller-to-roller friction. The rollers ride directly on the exterior surface of the wave generator. As the wave generator moves, the wave generator pushes on the rollers which, in turn, push on the flexible gearing. The flexible gearing, in turn, meshes with the mating gear, thus creating relative motion.