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Robotic Joint Strain Wave Gear (Harmonic Drive) Cutaway (8 Bodies)
Zero-backlash robotic actuator strain wave gear assembly with quarter cutaway through the anodized housing, rigid Circular Spline, thin-walled steel Flexspline cup, crossed roller output bearing, and ISO 9409-1 robot flange.
Strain wave gears (Harmonic Drives) deliver 100:1 single-stage speed reduction with zero backlash in a compact, lightweight package ideal for 6-axis industrial robots and humanoid actuators. The cutaway reveals how the input Wave Generator cam and thin-section ball bearing sit inside the thin-walled Flexspline cup while the high-rigidity crossed roller bearing supports tilting moments on the ISO 9409-1 output flange.
1. Geometry & FEA Mesh
- •8 independent solid bodies: actuator housing (cutaway), rigid Circular Spline (cutaway), Flexspline cup (cutaway), hollow Wave Generator shaft, flexible ball bearing, crossed roller bearing (cutaway), ISO 9409-1 output flange (cutaway), and 20 socket head cap bolts.
- •Zero CAD Collisions Gate verified: 0.000 mm³ overlap across all 8 bodies.
2. Loads & Boundary Conditions
- •Concentric clearances across the Wave Generator cam, flex bearing rings, Flexspline cup wall, and Circular Spline tooth ring.
3. Simulation Results & Findings
- ✓8 robotic actuator components load with distinct metallic and anodized finishes for interactive inspection in WebCAE.
Demonstrates precision robotics & mechatronics actuator assembly modeling in WebCAE.
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- ✓Nonlinear Contact & Buckling (Kσ, MITC4, RBE2/RBE3)
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