{"id":214,"count":1,"description":"The harmonic gearbox comprises three main components. The first one is the wave generator, the component typically connected to the motor, consisting of an elliptical ring and a flexible bearing. During rotation, it interferes with the second component, the flexible gear, which consists of a cup-shaped deformable steel element. This element has a radial toothing that engages in the rigid gear, which in turn has a toothing inside the gear, typically with two more teeth than the flexible gear. 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