Planetary-harmonic motor

1. A motor comprising:

a means for actuating a radial wave, said means having an outer boundary surface that exhibits the actions of said radial wave, said means also having a central axis from which said radial wave action is directed,

a deformable flexspline having an inner surface and a toothed outer surface, said flexspline coaxially aligned with the central axis of said means and oriented such that flexspline inner surface is proximate the outer boundary surface of said means, said flexspline toothed outer surface having a first specified number of teeth,

a circular spline having a toothed inner surface, said spline having an outer boundary surface and being coaxially aligned with said central axis and oriented such that said spline toothed inner surface is proximate the toothed outer surface of said flexspline, said spline inner surface having a second specified number of teeth which is different than said first specified number of teeth in said flexspline,

wherein said means is operable so that the action of said radial wave causes at least one of said deformed flexspline teeth to engage at a point on the toothed side of said circular spline in such a manner that said engagement point passes as a wave around the inner perimeter of said circular spine, said movement of said engagement point causing said flexspline to rotate around said central axis; and

wherein said radial wave actuating means including a central ring having an outer, boundary surface and a center point, a plurality of diaphragm pistons, each having a fluid containing cavity, a diaphragm that covers said cavity and a top action surface, said pistons being mounted along the perimeter of said ring boundary surface so that said action surfaces move radially from said ring center point as the amount of fluid in said cavities is increased, a planetary gear having an inner surface and a toothed outer surface with a first specified number of teeth, said planetary gear having a center point that coincides with said ring center point, a wave generator gear having an outer surface and a toothed inner surface and oriented such that said wave generator toothed inner surface is proximate the toothed outer surface of said planetary gear, said wave generator gear having a second, specified number of teeth which is different than said first specified number of teeth in said planetary gear, and a ring bearing having an outer surface and an inner surface, said bearing inner surface being proximate said wave generator gear outer surface.

2. A motor as recited in claim 1 wherein, by a specified flow of fluid through said pistons, the outer boundary surface of said planetary gear is caused to move relative to said ring center point so that a portion of said planetary gear outer surface contacts the inner surface of said wave generator gear in such a manner that at least one of said planetary gear teeth engages at a point the toothed side of said wave generator gear in such a manner that said engagement point passes as a wave around the inner perimeter of said wave generator gear, said movement of said engagement point causing said wave generator gear to rotate around said ring center point.

3. A motor as recited in claim 2 wherein said flexspline and spline so configured so that rotational motion of said wave generator gear causes said flexspline to deform in such a manner that at least one of said deformed flexspline teeth engages at a point the toothed side of said circular spline in such a manner that said engagement point passes as a wave around the inner perimeter of said circular spine, said movement of said engagement point causing said flexspline to rotate around said ring center point.

4. A method of providing a rotary motor, said method comprising the steps of:

utilizing a means for actuating a radial wave, said means having an outer boundary surface that exhibits the actions of said radial wave, said means also having a central axis from which said radial wave action is directed,

utilizing a deformable flexspline having an inner surface and a toothed outer surface, said flexspline coaxially aligned with the central axis of said means and oriented such that flexspline inner surface is proximate the outer boundary surface of said means, said flexspline toothed outer surface having a first specified number of teeth,

utilizing a circular spline having a toothed inner surface, said spline having an outer boundary surface and being coaxially aligned with said central axis and oriented such that said spline toothed inner surface is proximate the toothed outer surface of said flexspline, said spline inner surface having a second specified number of teeth,

wherein said means is operable so that the action of said radial wave causes at least one of said deformed flexspline teeth to engage at a point on the toothed side of said circular spline in such a manner that said engagement point passes as a wave around the inner perimeter of said circular spine, said movement of said engagement point causing said flexspline to rotate around said central axis, and

wherein said step of utilizing a radial wave actuating means further includes the steps of utilizing: a central ring having an outer, boundary surface and a center point, a plurality of diaphragm pistons, each having a fluid containing cavity, a diaphragm that covers said cavity and a top action surface, said pistons being mounted along the perimeter of said ring boundary surface so that said action surfaces move radially from said ring center point as the amount of fluid in said cavities is increased, a planetary gear having an inner surface and a toothed outer surface with a first specified number of teeth, said planetary gear having a center point that coincides with said ring center point, a wave generator gear having an outer surface and a toothed inner surface and oriented such that said wave generator toothed inner surface is proximate the toothed outer surface of said planetary gear, said wave generator gear having a second, specified number of teeth which is different than said first specified number of teeth in said planetary gear, and a ring bearing having an outer surface and an inner surface, said bearing inner surface being proximate said wave generator gear outer surface.