The document describes how to calculate the reduction ratio of a strain wave gearing mechanism. It provides an example where a flex spline with 200 teeth and a circular spline with 202 teeth would result in a reduction ratio of -0.01. This means the flex spline would spin at 1/100th the speed of the wave generator plug, but in the opposite direction. It also contains an unrelated section about actuators and motors used in a robotic arm.

6. For strain wave gearing mechanism the gearing reduction ratio can be calculated as follows:
Reduction Ratio = (Flex Spline Teeth – Circular Spline Teeth)
Flex spline Teeth
For example, if there are 202 teeth on the circular spline and 200 on the flex spline, the reduction ratio
is (200 − 202)/200 = −0.01
Thus the flex spline spins at 1/100 the speed of the wave generator plug and in the opposite direction.

10. ROLL
M
N
P
Actuator 1
Actuator 2

11. ROLL
YAW
PITCH
1
2
3
4
ROLL:- Motor 4
YAW:- Motor 1
PITCH:- Motor 2,4 (opposite direction)
 Uses 5 sets of bevel gears.
 Holding gripper in assembly and handling
operations.