The harmonic transmission device is mainly composed of three basic components, namely the wave generator, the flexible wheel and the steel wheel.

Wave generator: It is composed of flexible bearing and elliptical cam. The wave generator is usually installed at the input end of the reducer, the inner ring of the flexible bearing is fixed on the cam, and the outer ring is elastically deformed into an ellipse through the ball.

Flexspline: Flexible thin-walled elastomer parts with external gear ring, usually installed at the output end of the speed transmitter.

Circular spline: a rigid ring-shaped part with an inner gear ring, generally two more gear teeth than a flexspline, usually fixed on the body of the reducer.