Flex spline for strain wave drive

A flex spline for a strain wave drive, the flex spline comprising:

• a flexible tubular body having a first open end and a second open end;
• a first set of radially outwardly extending teeth around its outer periphery at the first open end;
• a second set of radially outwardly extending teeth around its outer periphery at the second open end;
• and
• a third set of teeth located axially between the first and the second sets of teeth, wherein the teeth extend outwardly;
• wherein the flexible tubular body further comprises:
• one or more sections of changed geometry located between the first and third sets of teeth or the second and third sets of teeth,
• wherein the sections of changed geometry are provided with a geometric feature in the flex spline body that is not present in the remainder of the flex spline body;
• wherein the geometric feature comprises a portion of reduced thickness;
• wherein a radially inner undercut creates the portion of reduce thickness.

A flex spline for a strain wave drive, the flex spline comprising:

• a flexible tubular body having a first open end and a second open end;
• a first set of radially outwardly extending teeth around its outer periphery at the first open end;
• a second set of radially outwardly extending teeth around its outer periphery at the second open end;
• and
• a third set of teeth located axially between the first and the second sets of teeth, wherein the teeth extend outwardly;
• wherein the flexible tubular body further comprises:
• one or more sections of changed geometry located between the first and third sets of teeth or the second and third sets of teeth,
• wherein the sections of changed geometry are provided with a geometric feature in the flex spline body that is not present in the remainder of the flex spline body;
• wherein the geometric feature comprises corrugations formed in the body.