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4. Actuator Selection Procedure
A variety of different driving arrangements is possible with Harmonic Drive® gears.
Overview Harmonic Drive® Products
The three main components of the Harmonic Drive® units, Circular Spline (CS), Flexspline (FS) and Wave Generator (WG) can
be seen in the illustration 15.2.
Ratio i =
Input speed
Output speed
Equation 15.1
Illustration 15.2
The values for ratios of Harmonic Drive® gears refer to the standard input and output arrangement (example 1 in the
table below). Other arrangements are possible, and also shown in the table.
