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what are the structure of the harmonic reducer?
Three main parts define a harmonic drive alternative: a flexspline, a circular spline, and a wave generator. Part of the motion transmission process, the flexible, thin-walled gear known as the flexspline deforms. Internal teeth of the rigid, fixed ring known as the circular spline mesh with the flexspline. The relative motion required for gear reduction is produced by the wave generator, an elliptical device fit inside the flexspline that generates the flexion as it spins. These parts taken together allow harmonic drive systems to have exact and effective motion control.