GSL Series Zero-Backlash Strain Wave (harmonic) Gearboxes
GAM’s GSL series zero-backlash strain wave gearboxes use harmonic gearing to provide zero-backlash and high torque in a small, lightweight gearbox. Collaborate with GAM engineers to customize the GSL series robotic strain wave gear reducers for easy integration into machines and mechanisms.
Features
- Drops in for popular competitor gearboxes
- Strain wave harmonic gears for high precision
- Backlash ≤ 0.5 arcmin (≤ 30 arcsec)
- High reduction ratios in a single stage: 50:1 to 160:1
- Simple design for integration into a mechanism or machine
- High torque density with low inertia
- Wide selection of models and configurations
- Collaborate with GAM engineers to design a strain wave gearbox assembly for easy integration
- New! Available with integrated motor mount for your specific motor - configure and download CAD models
GSL-CM Strain Wave with Integrated Motor Mount
The GSL-CM incorporates an integrated motor mount, simplifying the gearbox + adapter + motor stack into a much cleaner path from concept to build.Get CAD Models & Tech Specs with our Online Product Catalog
search our catalogStrain Wave Design & Operation
Stain wave harmonic gearing has a simple design with 3 basic parts: wave generator, flexspline, and circular spline.
- Wave Generator: Made up of an elliptical cam and a ball bearing. It is usually attached to the driving component. The inner ring of the bearing is fixed around the cam causing the bearing to deform to an elliptical shape.
- Flexspline: An elastic, thin-walled component with gear teeth on the outer surface. The flexspline is either cup or hat shaped, with a rigid base for transmitting torque. It has 2 less teeth than the circular spline. Most commonly the output component
- Circular Spline: Rigid steel ring with internal teeth. It has 2 more teeth than the flexspline. Most commonly the fixed component.
The deformation of the flexspline into an elliptical shape causes the teeth to sequentially engage and disengage the teeth of the circular spline. This results in the flexspline rotating at a significantly slower speed relative to the wave generator producing the gearbox's high ratios.
Cup vs. Hat Style
The terms "Cup" and "Hat" refer to the shape of the Flexspline. When viewed in cross-section, the flexspline looks like a cup or a hat.
Cup Style
Mounting flange output (bottom of the cup) is easy to bolt to for components such as pinions
Hat Style
In this style, the flexspline is the outermost diameter. Useful for applications requiring a gearbox with a rotating housing such as an AMR or AGV wheel or a robot joint
Rotation Direction
The GSL strain wave gearbox can be driven in two ways depending on which component is fixed and which is the driven, or output, component:
Common Operation
| Input | Wave Generator |
| Output | Flexspline |
| Fixed | Circular Spline |
| Rotation | Opposite Direction |
| Ratio | Nominal Ratio, e.g. 50:1 |
Alternate Operation
| Input | Wave Generator |
| Output | Circular Spline |
| Fixed | Flexspline |
| Rotation | Same Direction |
| Ratio | Nominal Ratio + 1, e.g. 51:1 |
GSL Series Models
GSL-CM
Cup Style with Integrated Motor Mount
- Standard GSL-CS Cup-style gearbox
- Integrated motor mount includes adapter plate, input shaft, and clamp collar customized for your selected motor
GSL-CS-A & GSL-CS-B
Cup Style Flexspline, Standard Input
- Cup-style Flexspline with keyed input
- Oldham's coupling input available (-B) to compensate for misalignment
- Sizes 014 to 032
- Nominal Torque 7.9 to 248 Nm
- Technical specs and CAD models
GSL-HS-A & GSL-HS-B
Hat Style Flexspline, Standard Input
- Hat-style Flexspline with standard bore input
- Oldham's coupling input available (-B) to compensate for misalignment
- Sizes 014 to 032
- Nominal Torque 7.8 to 248 Nm
- Technical specs and CAD models
GSL-HS-C
Hat Style Flexspline, Hollow Input
- Hat-style Flexspline with hollow input
- Sizes 014 to 040
- Nominal Torque 7.9 to 432 Nm
- Technical specs and CAD models
GSL-HS-D
Hat Style Flexspline, Shaft Input
- Hat-style Flexspline with shaft input
- Sizes 014 to 032
- Nominal Torque 7.9 to 248 Nm
- Technical specs and CAD models
GSL-HS-E
Basic Hat Style with Hollow Input
- Hat-style Flexspline, Hollow Bore
- Sizes 014 to 032
- Nominal Torque 7.9 to 248 Nm
- Technical specs and CAD models
Compact / Ultra Thin Gearboxes
GSL-CT-A
Cup Style Flexspline, Compact Design
- Cup-Style Flexspline with lower profile and smaller diamter than GSL-CS gearbox
- Sizes 014 and 017
- Nominal Torque 4.8 to 27 Nm
- Technical specs and CAD models
GSL-HT-A
Hat Style Flexspline, Ultra thin
- Ha-style flexspline with ulta thin design
- Sizes 014 and 017
- Nominal Torque 4.8 to 18 Nm
- Technical specs and CAD models
GSLC Components
The component form of the strain wave gearboxes includes only the Wave Generator, Flexspline, Circular Spline. For easy, full integration into your mechanism or machine.
GSLC-CS
Cup Style Flexspline
- Components with Cup-Style Flexspline
- Sizes 014 to 032
- Nominal Torque 7.9 to 248 Nm
- Technical specs
GSLC-HS
- Components with Hat-Style Flexspline
- Sizes 014 to 032
- Nominal Torque 7.9 to 248 Nm
- Technical specs
Collaborate with GAM
We have the ability to customize & modify all our products. Our team of engineers will collaborate with you to produce your desired result.
PDF Resources
Related Products
GPL Robotic Planetary
Best-in-class backlash and vibration-free motion for ultra-precision robotic motion control.
Learn More
GCL Robotic Cycloidal
Precise point-to-point motion with impact resistance 5x nominal torque
Learn More
Rack and Pinion Systems
Precision helical rack & pinion, available alone or paired with GAM gearboxes for optimized linear solutions.
Learn MoreContact the GAM Team
Have questions? Our team of experts can help! Give us a call at 888-426-7117 or fill out the form below and one of our team members will be in touch shortly.
*Required fields