Transmission device using flexible gear

A flexible transmission device, comprising:

• a case having a plurality of internal teeth on an inner periphery thereof;
• a flexible member having a plurality of external teeth on an outer periphery thereof, said flexible member being inserted into said case so that said plurality of external teeth partially mesh with said plurality of internal teeth when said flexible member is flexed and deformed in a substantially elliptical manner, said flexible member having a base disposed generally within said outer periphery along an end generally opposite from said plurality of external teeth;
• a wave generator positioned within said flexible member and configured to apply substantially elliptical flexural deformation to said flexible member, said wave generator capable of rotating the location of deformation on said flexible member;
• an output member located on said base of said flexible member and extending generally outwardly, generally away from the external teeth, along a generally perpendicular path relative to said base;
• a secondary member disposed on the output member and spaced from said base of said flexible member, said secondary member extending generally radially outwardly from said output member and from said generally perpendicular path;
• and
• an angular ball bearing, interposed between said case and said secondary member for supporting said output member and said case while permitting relative rotation between said output member and said case.