A cable gland includes a body, a cover, and an insert. The body is configured to be received in an opening of a housing. The body has a tube defining a first cavity extending circumferentially about an axis. The cover is threadedly engaged with the tube and configured to seal the body to the housing. The insert is disposed in the first cavity and defines a second cavity configured to receive a cable. The insert includes a plurality of ribs engaged with the tube.

A controller includes a plurality of circuit boards and a support configured to support each circuit board. The support includes a plurality of loading surfaces axially spaced from each other and a plurality of fingers extending obliquely relative to the loading surfaces. Each circuit board is disposed between one respective loading surface and one respective finger.

A rotary actuator assembly includes a gearbox disposed within a cavity of a housing. The gearbox includes a fixed gear with elevations arranged on an outer surface that are designed to engage the housing and fix the gear to the housing.

The flexible gearwheel disc is configured for a high-reduction gear mechanism that has at least two gearwheel segments which are arranged next to one another in the circumferential direction of the gearwheel disc and are connected to one another by means of spring segments. The gear mechanism includes a flexible gearwheel with at least two flexible gearwheel discs. The flexible gearwheel, at the same time makes increased flexibility of the gearwheel discs or of the gearwheel in the radial direction and an increased rigidity in the circumferential direction possible. The spring segments run obliquely with respect to the circumferential direction of the gearwheel disc.

A flat gearing in the form of a strain wave gearing includes a circular spline having an inner toothing; a dynamic spline which is axially adjacent to the circular spline and has an inner toothing; a flexible flexspline which is arranged inside the circular spline and dynamic spline and has at least one outer toothing; and a wave generator which is arranged inside the flexspline for deforming the flexspline in the radial direction. An interlocking, torque-transmitting connection is established between the circular spline and the flexspline at two opposing points on the flexspline and between the flexspline and the dynamic spline at four positions on either side of the contact with the circular spline. The axial course of the radial position of the tooth transverse of the at least one outer toothing of the flexspline has a region which is reduced radially in the direction of a center axis of the flat gearing.

A strain wave drive includes: an elliptical wave generator shaft rotatable about an axis (X); a flexible flex spline mounted around the wave generator shaft; a ring gear assembly mounted around the flex spline, the ring gear assembly comprising an output ring gear having a circular inner periphery and being sandwiched between two earth ring gears each having a circular inner periphery. The flex spline has a first set of a first number of radially outwardly extending teeth around its outer periphery. Each earth ring gear has the first number of radially inwardly extending teeth to engage with the first set of teeth of the flex spline. The flex spline has a second set of the first number of radially outwardly extending teeth around its outer periphery wherein the output ring gear has a second number of radially inwardly extending teeth.

An actuator includes a housing defining a cavity. The actuator further includes a hub disposed in the cavity. The actuator further includes a controller disposed in the cavity and supported by the hub. The actuator further includes potting compound surrounding the controller within the cavity.