How to classify the transmission form of industrial robot harmonic reducer?

Industrial robot harmonic reducer has the advantages of simple and compact structure, small size, light weight, high precision, large transmission ratio, etc., so it is widely used in various application scenarios. How is the transmission form of industrial robot harmonic reducer classified?  1. Classified according to the principle of the flexible wheel and the wave generator: ①Electromagnetic coupling type. The deforming force of the electromagnetic coupling type flexspline is generated by electromagnetic coupling between the wave generator and the uniform device on the coils on the circumference of the flexspline. ②Mechanical connection type. The mechanical connection type uses mechanical force to make the flexible wheel move. 2. Classified by deformation wave number: ① Single-wave transmission. The deformation of the flexspline of the single-wave gear transmission is asymmetrical, so the design requirements for the tooth profile and the cam profile of the wave generator are too high. ②Double-wave transmission. The number of teeth of the flexible wheel and the rigid wheel of the double-wave gear transmission are different by 2, the structure is relatively simple, and the most commonly used. ③Three-wave transmission. The three-wave gear transmission has good neutrality and small eccentricity error, but the processing is complicated, and the number of repeated bending of the flexspline increases, so the fatigue life of the flexspline is relatively low. Generally used less frequently. 3. According to the configuration classification of the wave generator of the harmonic reducer relative to the flexible wheel: ①External wave generator. The external wave generator has a large structure and a large moment of inertia, so it is not suitable for high-speed applications. ②Internal wave generator. When a fixed deformation wave generator is used, an internal wave generator is generally used. 4. Classified by transmission form: ① End face harmonic gear drive. The end face harmonic gear drive is a type of spatial gearing. The axial size of this type of drive is small, and the torsional rigidity of the flexspline is relatively large. ②Radial harmonic gear drive. Radial harmonic gear transmission belongs to the plane toothing type and is currently the most widely used. ③Harmonic spiral drive. The application of harmonic spiral transmission is mainly in the aspect of fine-tuning device, because it has high accuracy in the process of motion transmission, and the specific relationship of its transmission ratio can be obtained on the basis of the harmonic gear transmission method, but it needs to be scientifically based on the original method Extension. The industrial robot harmonic reducer relies on flexible parts to generate elastic mechanical waves to transmit power and motion for transmission. Its transmission forms have the above several types, and different transmission forms can be selected according to different application scenarios.