Inverted HARMONIC GEAR ACTUATOR, AND, METHOD FOR ASSEMBLING AN INVERTED HARMONIC GEAR ACTUATOR

摘要

"Inverted harmonic gear actuator, and, method for mounting an inverted harmonic gear actuator" an inverted harmonic gear actuator is provided and includes an engine stator and an engine rotor arranged radially within the engine stator. The inverted harmonic gear actuator also includes a wave generator disposed radially inside the engine rotor, where the wave generator has a radially internal surface with a form of come. An output rod of the actuator is radially disposed within the wave generator. A flexible stretch is radially interpolated between the inner surface radiationI the wave generator and the actuator output rod. The flexible striae is deformable to adapt to the radially internal surface of the wave generator and triggers the rotation of the actuator output rod more slowly than the engine rotor rotation.