harmonic gearing

As the Wave Generator is rotated by the primary power source, it imparts a continuously moving elliptical form or wave-like motion to the Flexspline. This causes the meshing of the external teeth of the Flexspline with the internal teeth of the Circular Spline at their two equidistant points of engagement. This meshing progresses in a continuous rolling fashion. It also allows for a full tooth disengagement at the two points along the minor axis of the Wave Generator. Since the Flexspline has two less teeth than the Circular Spline and because full tooth disengagement is made possible