Patent ID: 8485064

Claim:
A composite wave gear drive, comprising: a first circular spline and a second circular spline, which are coaxially disposed in parallel; a cylindrical flexspline capable of meshing with both of the first and second circular splines; a first wave generator that radially bends a first flexspline portion on one side of the flexspline in an axial direction, and causes the first flexspline portion to partially mesh with the first circular spline; and a second wave generator that radially bends a second flexspline portion on the other side of the flexspline in the axial direction, and causes the second flexspline portion to partially mesh with the second circular spline; wherein the first wave generator is separated from the second wave generator; wherein a number of teeth is set such that: Nc 2 >Nc 1 Nc 1 >Nf where Nc 1 is a number of teeth on the first circular spline. Nc 2 is a number of teeth on the second circular spline, and Nf is a number of teeth on the flexspline.