In general, the failure of the SWG is bounded at high load torques by ratcheting, which is described by the teeth of the flexspline slipping across the teeth of the wave generator, producing a condition known as « dedoidal. » A ratcheting event typically deforms the gear teeth on either the flexspline or the outer spline and renders the SWG inoperable. At high operational loads but below the ratcheting torque, the SWG will eventually fail due to fatigue of the flexspline. At loads below the fatigue strength of the flexspline, failure will normally occur due to the failure of the bearings in the wave generator.
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