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Advantages of Harmonic Drive |
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High Reduction Ratio |
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High Precision and Low Backlash |
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High Torque Capacity |
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High Efficiency |
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Compact Size and Light Weight |
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Smooth Running and Low Noise |
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Technical Data |
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1.Transmission Efficiency |
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Transmission efficiency of a harmonic drive gearing is the ratio of the reducer's
output power to its input power, or the ratio of the reducer's useful work
to its total work.
Ratings are based on actual shaft-to-shaft tests. |
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| Size |
Input Speed （rpm） |
Transmission Ratio |
Efficiency （%） |
| 25-120 |
500-3000 |
63-125
>125 |
75-90
70-85 |
| 160-250 |
500-1500 |
80-160
>160 |
80-90
70-80 |
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2. Transmission Error |
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Transmission error is defined as the difference between the output shaft's actual and its
theoretical rotational angles, at unidirectional rotation of the input shaft.
Harmonic Drive Gears are available with positioning accuracy of better than
one minute of arc and repeatability within a few seconds of arc.
Allowable values: 6' ; 3' ; 1' |
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3. Backlash |
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Backlash is defined as the lag of the output shaft's rotational angle occurred when
the rotational direction of the input shaft is altered, under no-load condition.
Harmonic Drive Gears may operate with essentially
zero backlash between mating teeth because of natural gear pre-load.
Allowable values: 6' ; 3' ; 1' |
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4. No-Load Static Starting Torque |
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| No. |
Size |
No-Load Static Starting Torque (N.cm) |
| 1 |
25 |
≤0.8 |
| 2 |
32 |
≤1.25 |
| 3 |
40 |
≤2 |
| 4 |
50 |
≤3 |
| 5 |
60 |
≤5 |
| 6 |
80 |
≤8 |
| 7 |
100 |
≤12.5 |
| 8 |
120 |
≤20 |
| 9 |
160 |
≤35 |
| 10 |
200 |
≤60 |
| 11 |
<>250 |
≤100 |
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5. Overload Capacity |
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Momentary peak overload of 100% rated torque is permissible at starting or stopping;
and less than 150% the rated is permissible during working. |
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6.Operating Life |
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Since
power is transmitted through multiple tooth engagement, Harmonic Drive
gearing offers high output torque capacity.
The life expectancy of the harmonic drive transmission is based on the
median life of the Wave Generator bearing.
Life expectancy of a unit operated at speed N and torque T conditions
may be estimated by the relationship given below: |
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L10 = 5000 ( Nn / N ) ( Tn / T )3 (hrs) |
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Where: |
L10 ---- Life expectancy at 10% probability of failure. |
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Nn ---- Rated Input Speed |
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N ---- Actual Input Speed |
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Tn ---- Rated Output Torque |
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T ---- Actual Output Torque |
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7. Service Factor |
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Driven Machine Load Condition |
Prime
Motor |
Duration of Service
(hrs/day) |
Steady |
Moderate Shock |
Heavy Shock |
Electric
Motor |
3(intermittent )
10
24 |
0.8
1.0
1.25 |
1.0
1.25
1.5 |
1.5
1.75
2.0 |
| I.C.Engine |
3(intermittent )
10
24 |
1.0
1.25
1.5 |
1.25
1.5
1.75 |
1.75
2.0
2.25 |
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8. Torsional Rigidity |
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| No. |
Size |
Torsional Rigidity N.m/( ' ) |
| 1 |
25 |
0.365 |
| 2 |
32 |
0.725 |
| 3 |
40 |
1.45 |
| 4 |
50 |
2.90 |
| 5 |
60 |
5.80 |
| 6 |
80 |
11.65 |
| 7 |
100 |
23.25 |
| 8 |
120 |
46.55 |
| 9 |
160 |
93.10 |
| 10 |
200 |
186.20 |
| 11 |
250 |
327.35 |
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Torsional rigidity is here defined as the rate of change of torque on output shaft with
respect to angular twist of the shaft,on condition that the input shaft is fixed.
Harmonic Drive Gears exhibit very high torsional rigidity over the whole speed range.
The nearly linear rigidity characteristics guarantee optimum operating behaviour. |
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9. Moment of Inertia |
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| No. |
Size |
Torsional Rigidity N.m/( ' ) |
| 1 |
25 |
7X10-7 |
| 2 |
32 |
2.8X10-6 |
| 3 |
40 |
8.8X10-6 |
| 4 |
50 |
2.5X10-5 |
| 5 |
60 |
5.85X10-5 |
| 6 |
80 |
1.77X10-4 |
| 7 |
100 |
5.46X10-4 |
| 8 |
120 |
1.18X10-3 |
| 9 |
160 |
5.65X10-3 |
| 10 |
200 |
1.72X10-2 |
| 11 |
250 |
5.16X10-2 |
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