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Bulk metallic glass-based strain wave gears and strain wave gear components. In one embodiment, a strain wave gear includes: a wave generator; a flexspline that itself includes a first set of gear teeth; and a circular spline that itself includes a second set of gear teeth; where at least one of the

Bulk metallic glass-based strain wave gears and strain wave gear components. In one embodiment, a strain wave gear includes: a wave generator; a flexspline that itself includes a first set of gear teeth; and a circular spline that itself includes a second set of gear teeth; where at least one of the wave generator, the flexspline, and the circular spline, includes a bulk metallic glass-based material.

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1. A strain wave gear comprising: a wave generator;a flexspline that itself comprises a first set of gear teeth; anda circular spline that itself comprises a second set of gear teeth;wherein at least one of the wave generator, the flexspline, and the circular spline, comprises a bulk metallic glass-

1. A strain wave gear comprising: a wave generator;a flexspline that itself comprises a first set of gear teeth; anda circular spline that itself comprises a second set of gear teeth;wherein at least one of the wave generator, the flexspline, and the circular spline, comprises a bulk metallic glass-based material having an elastic limit of greater than or equal to approximately 1%. 2. The strain wave gear of claim 1, wherein the wave generator comprises a wave generator plug and a bearing. 3. The strain wave gear of claim 2, wherein the bearing is a ball bearing. 4. The strain wave gear of claim 1, wherein each of the wave generator, the flexspline, and the circular spline, comprises a bulk metallic glass-based material. 5. The strain wave gear of claim 1, wherein at least one of the first set of gear teeth and the second set of gear teeth comprises a bulk metallic glass-based material. 6. The strain wave gear of claim 1, wherein each of the first set of gear teeth and the second set of gear teeth comprises a bulk metallic glass-based material. 7. The strain wave gear of claim 6, wherein the wave generator comprises a ball bearing that itself comprises a bulk metallic glass-based material. 8. The strain wave gear of claim 1, wherein the element of the bulk metallic glass-based material that is present in the most amount is one of: Fe, Zr, Ti, Ni, Hf, and Cu. 9. The strain wave gear of claim 1, wherein the bulk metallic glass-based material is Ni40Zr28.5Ti16.5Al10Cu5. 10. The strain wave gear of claim 1, wherein the flexspline comprises a bulk metallic glass-based material having an elastic limit of greater than or equal to approximately 1%. 11. The strain wave gear of claim 10, wherein the element of the bulk metallic glass-based material that is present in the most amount is one of: Fe, Zr, Ti, Ni, Hf, and Cu. 12. The strain wave gear of claim 10, wherein the bulk metallic glass-based material is Ni40Zr28.5Ti16.5Al10Cu5. 13. The strain wave gear of claim 1, wherein the bulk metallic glass-based material does not include crystalline phases of material, and is characterized by an entirely amorphous structure. 14. The strain wave gear of claim 1, wherein the bulk metallic glass-based material is a bulk metallic glass matrix composite.