Jared FensterI was able the achieve the proper ellipse shape of the FlexSpline with little friction. It seems that making the Inner diameter of the FlexSpline Teeth (Where the bearing contacts) and the Outer diameter of the wave generator as large as possible lowers the friction.
Fixed Bearing Friction
A project log for Strain Wave Gear Robotic Arm
Mostly 3D Printed Strain Wave Gear Robotic Arm
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