Circular wave drive

1. A circular wave drive, comprising:

an enclosed housing having a chamber therein,

wherein the periphery of the chamber is defined by a circular wall,

wherein the circular wall includes an inner diameter, and

wherein the circular wall includes a friction element;

a ring-shaped wheel residing in the chamber,

wherein the ring-shaped wheel includes both an external friction element and an internal friction element,

wherein the ring-shaped wheel includes a hollow central portion including an inner wall having an inner diameter, the inner wall including the internal friction element,

wherein the inner wall of the ring-shaped wheel is axially divided into a non-friction element portion and a friction element portion,

wherein the ring-shaped wheel includes an outer diameter, and

wherein the ring-shaped wheel outer diameter is less than the inner diameter of the circular wall;

a wave generator having a wheel-driving portion that is oriented within the hollow central portion of the ring-shaped wheel,

wherein the wave generator includes an eccentrically mounted input shaft extending from the wheel-driving portion and through the housing;

an output element having a wheel-driven portion that is oriented within the hollow central portion of the ring-shaped wheel opposite the wheel-driving portion of the wave generator,

wherein the output element includes an output shaft that extends from the wheel-driven portion and through the housing in an opposite direction of the input shaft of the wave generator, and

wherein a peripheral face of the wheel-driven portion includes a friction element being in contact with the internal friction element of the ring-shaped wheel; and

a bearing having an inner race and an outer race, wherein a peripheral surface of the wheel-driving portion of the wave generator is connected to the inner race of the bearing, and wherein the non-friction element portion of the inner wall of the ring-shaped wheel is connected to the outer race of the bearing.

2. The circular wave drive of claim 1 , wherein the bearing being oriented between the wave generator and the inner wall of the ring-shaped wheel is configured to provide a sliding motion of the ring-shaped wheel along the peripheral surface of the wheel-driving portion of the wave generator during a rotation of the wave generator.

3. The circular wave drive of claim 2 , wherein the sliding motion of the ring-shaped wheel causes the ring-shaped wheel to rotate with a lesser rotational speed than that of the wave generator.

4. The circular wave drive of claim 1 , further comprising the bearing interposed between the input shaft of the wave generator and an opening in the housing through which the input shaft passes.

5. The circular wave drive of claim 1 , further comprising the bearing interposed between the output shaft of the output element and an opening in the housing through which the output shaft passes.

6. The circular wave drive of claim 1 , wherein the input shaft of the wave generator and the output shaft of the output element are coaxially aligned.

7. The circular wave drive of claim 1 , wherein any of the friction elements includes at least one of: a plurality of gear teeth, a knurled surface, a raised element, an indented element, a rubber element, and a polymer element.

8. The circular wave drive of claim 1 , wherein the friction elements are gear teeth, and wherein the number of teeth disposed along the circular wall of the chamber is either the same as, greater than, or less than the number of external teeth on the ring-shaped wheel, and the number of the internal teeth on the ring-shaped wheel is either the same as, greater than, or less than the number of the teeth on the output element so as to produce adjustable reduction in the rotational speed of the output element in comparison to the rotational speed of the wave generator.

9. A circular wave drive, comprising:

an enclosed housing having a chamber therein,

wherein the periphery of the chamber is defined by a circular wall,

wherein the circular wall includes an inner diameter, and

wherein the circular wall includes a friction element;

a ring-shaped wheel residing in the chamber,

wherein the ring-shaped wheel includes both an external friction element and an internal friction element,

wherein the ring-shaped wheel includes a hollow central portion including an inner wall having an inner diameter, the inner wall including the internal friction element,

wherein the inner wall of the ring-shaped wheel is axially divided into a non-friction element portion and a friction element portion,

wherein the ring-shaped wheel includes an outer diameter, and

wherein the ring-shaped wheel outer diameter is less than the inner diameter of the circular wall;

a wave generator having a wheel-driving portion that is oriented within the hollow central portion of the ring-shaped wheel,

wherein the wave generator includes an eccentrically mounted input shaft extending from the wheel-driving portion and through the housing;

an output element having a wheel-driven portion that is oriented within the hollow central portion of the ring-shaped wheel opposite the wheel-driving portion of the wave generator,

wherein the output element includes an output shaft that extends from the wheel-driven portion and through the housing in an opposite direction of the input shaft of the wave generator, and

wherein a peripheral face of the wheel-driven portion includes a friction element being in contact with the internal friction element of the ring-shaped wheel; and

a bearing having an inner race and an outer race, wherein a peripheral surface of the wheel-driving portion of the wave generator is connected to the inner race of the bearing, and wherein the non-friction element portion of the inner wall of the ring-shaped wheel is connected to the outer race of the bearing,

wherein the bearing being oriented between the wave generator and the inner wall of the ring-shaped wheel is configured to provide a sliding motion of the ring-shaped wheel along the peripheral surface of the wheel-driving portion of the wave generator during a rotation of the wave generator.

10. The circular wave drive of claim 9 , wherein the housing includes a main body portion and a cover element that is securable to the main body portion.

11. The circular wave drive of claim 9 , further comprising the bearing interposed between the input shaft of the wave generator and an opening in the housing through which the input shaft passes.

12. The circular wave drive of claim 9 , further comprising the bearing interposed between an opening in the housing and the output shaft of the output element.

13. The circular wave drive of claim 9 , wherein the input shaft of the wave generator and the output shaft of the output element are coaxially aligned.

14. The circular wave drive of claim 9 , wherein the sliding motion of the ring-shaped wheel causes the ring-shaped wheel to rotate with a lesser rotational speed than that of the wave generator.

15. The circular wave drive of claim 9 , wherein any of the friction elements includes at least one of: a plurality of gear teeth, a knurled surface, a raised element, an indented element, a rubber element, and a polymer element.

16. The circular wave drive of claim 9 , wherein the friction elements are gear teeth, and wherein the number of teeth disposed along the circular wall of the chamber is either the same as, greater than, or less than the number of external teeth on the wheel, so as to produce an adjustable reduction in the rotational speed of the output element in comparison to the rotational speed of the wave generator.