The built-in constant draw can be dynamically
increased or decreased by rotating the control
shaft which has been stationary until now.
To visualize the effect of rotating the control
shaft, assume the outer housing (circular
spline) is stationary for the moment as shown
in Figure 2. With each rotation
of the wave generator, the flexspline will
rotate two teeth in a direction opposite to
that of the wave generator because the flexspline
has two less teeth than the circular spline.
In this mode, the Harmonic Drive is functioning
as a high ratio reducer.
When the concept of Figure 2
is combined with that of Figure
1, the result is a dynamic differential
with exceptionally precise speed control
characteristics.
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