Harmonic drive with flex spline end clamps

A harmonic drive, comprising:

• a housing extending axially from a first outer end to a second outer end,
• wherein the housing has radial outer and inner walls that extend axially between the first and second outer ends of the housing to define an annular channel therebetween, the annular channel having a first end at the first outer end of the housing and a second end at the second outer end of housing, and at least one of the first and second ends of the annular channel tapers toward a respective one the first and second outer ends of the housing;
• a flex spline that extends axially between first and second ends and has a radial outer surface, and the first and second ends of the flex spline taper radially outwardly,
• wherein the flex spline is located within the annular channel so that the first end of the flex spline is located within the first end of the annular channel and the second end of the flex spline is located within the second end of the annular channel;
• a first clamp that is clamped against the first end of the annular channel;
• and
• a second clamp that is clamped against the second end of the annular channel.