A new manufacturing technique of the cup type composite flexspline for a harmonic drive is developed using co-cure bonded joining method in which the excess resin squeezed out from composite prepreg during cure processes is used as an adhesive. This method obviated the adhesive bonding process in the adhesively bonded composite flexspline manufacturing processes, and improved the fatigue life of the composite flexspline. The static and dynamic characteristics of the co-cure bonded composite flexspline, such as torque transmission capability, radial and torsional stiffness, resonant frequency and damping capacity are measured and compared to those of the adhesively bonded composite flexspline.