Motion systems / 01← All architectures
Strain-wave actuator
An inner-rotor frameless motor drives a strain-wave reducer. A separate output bearing supports the robot link.
01 / Inside the architectureIntegrated rotary joint
3D model and components
Preparing architecture…
Power path
Inverter → PMSM rotor → wave generator → flexspline → output flange
Inspect the components
Select a component to identify its function in the assembly.
02 / ComponentsFunction of every part
What each part does.
Power path: Inverter → PMSM rotor → wave generator → flexspline → output flange.
- Servo drive & feedback
- Power electronics, rotor sensing and output feedback close the motion-control loops.
- Inner-rotor PMSM
- Copper windings surround the permanent-magnet rotor. The hollow rotor shaft drives the wave generator.
- Strain-wave reduction
- The elliptical wave generator deforms the flexspline against a fixed circular spline with two additional teeth.
- Output bearing
- A cross-roller bearing takes radial, axial and overturning loads into the housing.
- Output flange
- The flexspline diaphragm transfers reduced-speed torque to the supported output flange.
- Housing & heat path
- The structure locates components and conducts stator heat into the machine interface.
03 / Where it is usedRelevant application areas
Machines that call for it.
01
Humanoid & legged robotics
Walking, balancing and manipulation bring many controlled axes together. Mass and heat at each joint influence the capability of the whole robot.
See the application 02Industrial robots & cobots
A serial robot compounds the behaviour of every joint. Reducer stiffness, bearing support and calibration all influence the motion delivered at the end effector.
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