The harmonic drive device is mainly composed of three basic components, namely, the wave generator, the flexible wheel and the steel wheel.
Wave generator: 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: A flexible, thin-walled elastomer part with an outer ring gear, usually installed at the output end of the reducer.
Rigid wheel: a rigid ring-shaped part with an inner ring gear, generally two more teeth than a flexible wheel, usually fixed on the reducer body.