A flexible transmission element is disclosed which can be used, in particular in a harmonic drive and which includes a sleeve-shaped, outer toothed section and a flange connected to this section, the outer toothing of the sleeve-shaped section is sheet metal toothing formed in a die.

A compact power steering system is suitable for small vehicles. A torque sensor on a steering shaft detects operator intention to turn. In response, a motor provides torque to assistance in rotating the steering shaft. A strain wave gear set multiplies the motor torque. A coupler having a torsional isolator links the gearbox output to the steering shaft.

An external gear includes a body, external teeth, a diaphragm, and a strain gauge. The diaphragm extends in a direction intersecting with an axial direction on another side in of the body the axial direction. The strain gauge is on at least one of a surface on one side of the diaphragm in the axial direction and a surface on another side of the diaphragm in the axial direction. The strain gauge is only in a region that is about a half or less of a radial length from one end of the diaphragm in the axial direction to the other end of the diaphragm in the axial direction with a radial midpoint between the one end of the diaphragm in the axial direction and the other end of the diaphragm in the axial direction as a center in a section passing through the central axis.

A joint shaft structure includes: a base member; an output shaft member supported on one side of the base member so as to be rotatable; and a strain wave gear reducer rotating the shaft member relative to the base member by transmitting rotation of a motor to the shaft member while reducing the speed of the rotation. The reducer includes: a wave generator fixed to a shaft rotated by a driving force from the motor; a flexspline having, at one end, an elastic part which includes a plurality of external teeth and inside which the generator is fitted; and a ring gear disposed on a radially outer side of the flexspline and fixed to the shaft member, and having internal teeth meshing with the external teeth. The flexspline is fixed to the base member at the other end disposed farther on the base member side than the elastic part.

A braking assembly for a strain wave gearing of a surgical robotic manipulator, the braking assembly including a first braking member fixedly coupled to an input portion of a strain wave gearing of a surgical robotic manipulator; and a second braking member fixedly coupled to an output portion of the strain wave gearing, and wherein during a braking operation the first braking member contacts the second braking member to mechanically brake the input portion to the output portion.

Provided is a bending meshing type gear device including a wave generator, an external gear flexibly deformed by the wave generator, and an internal gear meshing with the external gear. The internal gear includes an internal tooth ring portion including an internal tooth formed on an inner periphery, an external connection portion connected to an external member, an easily deformable portion provided between the internal tooth ring portion and the external connection portion, and configured to be more easily deformable than the internal tooth ring portion, and a distortion measurer provided in the easily deformable portion.

An actuator unit (1) includes a direct drive motor (2), a first magnetic gear (3) connected to a rotating shaft (6) of the direct drive motor (2), a second magnetic gear (4) configured to be magnetically engaged with the first magnetic gear (3), and a planetary reducer (5) connected to a rotating shaft of the second magnetic gear (4).

An electromechanical linear includes a rotary shaft; a harmonic drive gear arrangement extending radially outwardly of and coaxially with the rotary shaft; an electric motor positioned radially outwardly of the harmonic drive gear arrangement, wherein the rotary shaft is configured to be driven by the electric motor via the harmonic drive gear arrangement; and an output component configured to be driven along the rotary shaft in response to rotation thereof.

An arm joint is provided with a first coupling part with a first axis and a second coupling part with a second axis. Further, the arm joint includes a third coupling part connected in a manner rotatable around a third axis with the first coupling part. The third axis includes an angle with the first axis in the range of 30-60 degrees, preferably of 45 degrees. The third coupling part is connected in a manner rotatable around a fourth axis with the second coupling part. The fourth axis includes an angle with the second axis in the range of 30-60 degrees, preferably of 45 degrees. The third and the fourth axis mutually include an angle in the range of 60-120 degrees, preferably of 90 degrees. A robot arm with a number, preferably three, of such arm joints is also disclosed.

Disclosed is a triple harmonic speed reducer, which enables a flexible inner gear to generate three tooth misalignment motions after a wave generator rotates for one circle, so that the harmonic speed reducer has higher position precision and rotation precision, more stable transmission, and more stable operation. The triple harmonic speed reducer includes a wave generator, a flexspline and a rigid circular spline, wherein the flexspline includes a flexible inner gear and an output part, the wave generator is arranged in an inner installation cavity of the flexible inner gear, the wave generator includes an input shaft end and a cam, wherein a flexible bearing is annularly arranged between an outer ring peripheral surface of the cam and an inner ring peripheral surface of the flexible inner gear, the cam of the wave generator is specifically of a three-convex structure.