US 12,460,710 B2
Flexible spline and wave generator for strain wave gearing
Kaushik Sampath, Bangalore (IN); Alok Singh Rawat, Bangalore (IN); Jyotishka Duttagupta, Bangalore (IN); and Abhishek Sankar, Bangalore (IN)
Assigned to I-HUB FOR ROBOTICS AND AUTONOMOUS SYSTEMS INNOVATION FOUNDATION, Bangalore (IN); and MINISTRY OF HEAVY INDUSTRIES (MHI), GOVERNMENT OF INDIA, New Delhi (IN)
Filed by I-HUB FOR ROBOTICS AND AUTONOMOUS SYSTEMS INNOVATION FOUNDATION, Bangalore (IN); and MINISTRY OF HEAVY INDUSTRIES (MHI), GOVERNMENT OF INDIA, New Delhi (IN)
Filed on Oct. 1, 2024, as Appl. No. 18/903,235.
Claims priority of application No. 202341066798 (IN), filed on Oct. 5, 2023.
Prior Publication US 2025/0116320 A1, Apr. 10, 2025
Int. Cl. F16H 49/00 (2006.01); F16H 55/06 (2006.01); F16H 57/02 (2012.01); F16H 57/023 (2012.01)
CPC F16H 49/001 (2013.01) [F16H 57/023 (2013.01); F16H 2049/003 (2013.01); F16H 55/06 (2013.01); F16H 2057/02034 (2013.01); F16H 2057/02073 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A strain wave gearing device comprising:
a circular spline having a plurality of internal teeth;
a flex spline having a plurality of external teeth, the flex spline is disposed coaxially with respect to the circular spline to allow one or more of the plurality of external teeth to engage with one or more of the plurality of internal teeth, wherein the flex spline is defined by a Bezier curve, wherein the Bezier curve is constructed by a plurality of control points of the flex spline, and wherein coordinates of the plurality of control points are determined based on a plurality of structural parameters of the flex spline; and
a wave generator having an elliptical cam and a flexible bearing mounted on the elliptical cam, the wave generator is disposed coaxially with respect to the flex spline to allow the flexible bearing to have two-point contact with the flex spline;
a pair of output flanges operatively coupled to the flex spline;
a ball bearing arranged between the pair of output flanges;
a gearbox casing supporting the flex spline, the ball bearing and the pair of output flanges; and
a cover coupled to the gearbox casing.