ACT-11 Harmonic Drive (Strain Wave Gearing) High-Precision Simulator

Dynamic Mechanical Physics Model

Input Shaft (WG)

+60.0 RPM

Output Shaft

-1.22 RPM

Gear Ratio

-49 : 1

Wave Generator (WG)

Flexspline (FS)

Circular Spline (CS)

High Tooth Engagement Zone

ROTARY STRAIN WAVE

Kinematic Controls

Input Speed (RPM) +60 RPM

Applied Torque Load (Nm) 25 Nm

CS Fixed (Reducer)

FS Fixed (Direct)

98 / 100 (49:1)

158 / 160 (79:1)

198 / 200 (99:1)

238 / 240 (119:1)

Speed Reduction Equation

$R = \frac{N_{FS}}{N_{FS} - N_{CS}} = \frac{98}{98 - 100} = \mathbf{-49 : 1}$

Note: Negative sign indicates counter-rotation relative to wave generator input.

Wave Generator (Input): Elliptical cam surrounded by a flexible ball bearing rotates, continuously flexing the thin flexspline.
Tooth Engagement: Deforms external flexspline teeth to engage fixed circular spline teeth along the major elliptical axis ($180^\circ$ apart).
Tooth Disengagement: At the minor elliptical axis, teeth completely disengage, permitting smooth differential motion.
Differential Tooth Count: Flexspline has 2 fewer teeth than Circular Spline ($\Delta N = -2$). Each WG turn rotates Flexspline backward by 2 teeth.