Patent ID: 9394984
Filing Date: 2016-07-19
CPC Classification: F16H,H02K,Y10T

Claim Text:
1. A harmonic drive, comprising: a toothed harmonic ring gear; a harmonic wave generator comprising a rotor element, including an outer wave profile having at least three lobes, and a stator element configured to drive rotation of the rotor element, wherein the rotor element comprises: an annular base member including the wave profile; and an annular array of permanent magnetic materials coupled to an inner diameter of the annular base member; and a harmonic flex spine radially interposed between the harmonic ring gear and the rotor element and comprising a toothed portion and a bearing element rotatably supportive of the rotor element within the toothed portion, the toothed portion being disposed to register with the toothed harmonic ring gear at contact points corresponding to said lobes defined by the wave profile in accordance with the rotation of the rotor element.