Harmonic Drive 諧波減速機 / HD 諧和式減速機 原理介紹

波產生器（Wave Generator）：

本零件是將薄型滾珠軸承組合進橢圓狀凸輪外圈內的零件。軸承的內輪雖固定在凸輪上，但外輪可透過滾珠產生彈性變形。一般會安裝在輸入軸上。
The Wave Generator is a thin raced ball bearing fitted onto an elliptical hub serving as a high efficiency torque converter and generally mounted onto the input shaft.

彈性齒杯（Flex Spline）：

本零件為薄型杯狀的彈性金屬零件，在開口部的外圈刻有齒槽。彈性齒杯的底部（杯狀底部）稱之為隔板，一般會安裝在輸出軸上。
The Flexspline is a non-rigid, thin cylindrical cup with external teeth on a slightly smaller pitch diameter than the Circular Spline. It fits over and is held in an elliptical shape by the Wave Generator.

剛性齒輪（Circular Spline）：

本零件為剛性環狀零件。在內圈刻有齒槽，齒輪數較彈性齒杯多2個。一般會固定在護殼上。
The Circular Spline is a rigid ring with internal teeth, engaging the teeth of the Flexspline across the major axis of the Wave Generator. The Circular Spline has two more teeth than the Flexspline and is generally mounted onto the housing.