You are asked to design a harmonic drive transmission in conjunction with a DC motor. The harmonic drive has three components: a wave generator, a flexspline, and a circular spline. The number of teeth on the circular spline is nc and the number of teeth on the flexspline is n. The wave generator is driven by torque of T, from a DC motor. Harmonic-drive gearing consist of only three major components. The wave generator is a slightly elliptical cam that fits into the flexspline. The flexspline, in turn, fits into the Circular spline Flexspline Wave generator circular spline. The flexspline, however, has two fewer teeth than the circular spline. Because the wave generator is elliptical, gear teeth are in mash at two locations opposite each other. Thus, as the ellipse on the wave generator makes one revolution, the circular spline is displaced radially by two teeth. Hint: If the circular spline is coupled to the motor housing (standard case), your notes suggest a relationship between the speeds of the wave generator and the flexspline: WF NF - nc ww Or NF WF = - 17 n where NF n = Transmissio Ratio = nc-nF