The strain wave gear has a unique tooth engagement which results in a zerobacklash gear mesh that provides high positional accuracy and high torque with a compact form factor. Harmonic drive is the brand name of strain wave gear trademarked by the harmonic drive company, and invented in 1957 by c. It is very commonly implemented in robotics today and used in aerospace as well, for gear reduction but may also be used to increase rotational speed, or for differential gearing. The report on harmonic drive market offers indepth analysis on market trends, drivers, restraints, opportunities etc. Documentation is provided for all products offered by harmonic drive ag and can be found in pdf format on the website. Feel free to email us if you are unable to locate the document you need. If a largebore wave generator or an input coupling completely free of. Engineering and manufacturing deformation models deformations mechanics gearing maintenance and repair mechanical properties gears mechanical drives equipment and supplies. Unipolar single wave harmonic drive ratio can reach 50300, optimizing can reach 75250. Harmonic drive hfus202a manuals manuals and user guides for harmonic drive hfus202a. Essential health and safety requirements were considered in the design and manufacture of these gear component sets. Our hpn range is a more conventional gear with helical gearing to increase torque capacity and lower noise, this is available in accuracies of up to 5 arc minutes.
All products are warranted to be free from design or manufacturing defects for a. Multiple wave harmonic drive ratio can realize 300150,000 moreteeth of engagement at the same time harmonic drives joggle teeth at the same time can reach 30%, or even more. Expired lifetime application number us358673a inventor roger h lapp original assignee. The greatest benefits are the zerobacklash characteristics and the. The compact design, universal housing with precision bearings and precision planetary gearing provides high torque density while offering high positioning performance.
The present invention relates to an extended tooth contact harmonic drive gearing apparatus 10 for transmitting rotary motion from an input drive to an output drive, through mating contact between the gear tooth 30, 60. Developed with the design engineer in mind, the new website features a robust product selector tool, pdf and dxf cad drawings, as well as downloadable 3d solid models. Accudrive series p high precision inline planetary servo drive will satisfy your most demanding automation applications. Download harmonic drive llc catalogs or assembly instructions. Aiming at finding a monitoring method of this kind of failure in this paper, the simulation of axial displacement failure is performed by establishing the electromechanical system model of the harmonic drive. Gearbox and motor together form a compact and lightweight system capable of. Ep0767325a3 harmonic drive devices, and a method of.
For over 50 years, harmonic drive has been youre your partner for precision motion control. Engineering data hpgp harmonic planetary gears harmonic drive. Flex spline is a main component of harmonic drive, that can produce a repeated vibration by the wave generator. The innovative design of harmonic drive precision gear allows consistently high. Cad downloads manual downloads material safety data sheet sds catalog downloads opens to a new window. When used as a when used as a speed reducer, the wave generator acts as the in put element. They utilize zero backlash harmonic drive strain wave gearing as the core technology to achieve accurate and smooth motion. The harmonic drive strain wave gear utilizes a unique gear tooth profile for optimized tooth engagement.
For applications requiring high accuracy but with a gear ratio of less than 45. The solid model of the deformed flexible gear of the harmonic drive. Harmonic drive gears are components for installation in machines as defined. Harmonic planetary and harmonic drive products are manufactured as matched sets.
The innovative concept of the harmonicdrive and its unique mechanism are the brainchild of. Prior to musser, efforts had been focused on increasing the rigidity of gear. The harmonic ratio is the ratio of the fundamental frequencys power to the total power in an audio frame 65, 104. Design and development of strain wave generating cam for a. Harmonic drive llc offers precision motion control products. Im sure there are currents patents to new designs improvementscorrect me if i am wrong. We note that the transmitted torque across the harmonic drive represents a nonlinear coupling factor between the motor side and the load side dynamics. A split cam design is proposed to solve the problem of assembly of the single piece cam in the flexible raced bearing of an earlier proposed novel harmonic drive system, which shows better torque characteristics and capacities in comparison to the conventional one of same size with ovalshaped strain wave generating cam. Wave generators are located inside of flexsplines in most harmonic gear drive devices. Harmonic drive group companies in japan and germany, although facing similar challenges related to covid19, are maintaining their production and shipment schedules. Harmonic gear drive consists of circular spline, flex spline, and wave generator. An experimental study of nonlinear stiffness, hysteresis, and friction effects in robot joints with harmonic drives and torque sensors. The harmonic drive is a backlash free precision gear and is unusual in using an elastically deformable component to achieve a high reduction ratio in just a.
Harmonic drive llc patented s gear tooth profile achieves twice the torque. Precision planetary gearing products are available with gear ratios from 3. The harmonic drive gear is the subject of continuous development in both japan and germany. The harmonic drive was invented some 40 years ago, so i dont see how patents will be an issue. Performance matched precision gearing, motors, and encoders are designed to provide a power dense, cost effective solution. Read the manual thoroughly before designing the application, installation. Study of dynamic properties of composite flexsplines of. High capacity output bearings are utilized for robust and accurate support of loads. The rdrive series features integrated harmonic gearboxes that use strainwave gear technology.
Harmonic drive hfus322a manuals manuals and user guides for harmonic drive hfus322a. Harmonic drive systems hpg20a21j6gck planetary gear. An investigation into the vibration of harmonic drive systems. Easily find a gearhead to match your servomotor using our product selector tool. There have been both policy adjustments and regular communication with our employees to best assure their wellbeing. This gives you precise motion control and hightorque output. Established in the year 1987, mukund transgears is a prominent manufacturer, exporter and supplier of a wide range of industrial equipment. All content is posted anonymously by employees working at harmonic drive. Pdf application of harmonic drive gears in machine tools. The solid model of the deformed flexible gear of the. Understanding and modeling the behavior of a harmonic.
A d100 harmonic drive is simulated based on the contact theory and the explicit algorithm of the finite element method. Catalog rated performance may not be achieved if the component parts are interchanged. He has 23 years of experience in the field of gear box manufacturing and it is through his sharp managerial skills and dynamic approach that we have made it to the top. The parameterized finite element grid of the whole harmonic gear drive model is realized by matlab, and then the assembly process of the wave generator is. Strainwave gear the ultimate in accuracy and quality is a strainwave gear, also known generically as a harmonic drive. But in common gear drive, joggle teeth at the same time only can be 27%, for. Before commissioning products from harmonic drive ag with servo drives, we advise. Download harmonic drive llc catalogs, assembly instructions, cad files, sds, and more. Sort by date 1 minimal tooth number of flexspline in harmonic gear drive with external wave generator october 20. Harmonic drive a guide to choosing gears for robotics. The harmonic drive is a backlash free precision gear and is unusual in using an elastically deformable component to achieve a high reduction ratio in just a single gear stage with only 3 basic gear components. The exponential lugre friction model is used in the. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed. Pdf on the kinematic error in harmonic drive gears.
Import data and price of gear harmonic drive under hs code. Accudrive series p type n precision planetary gearhead. Quickly filter through a wide range of gear ratios and torque ratings to find the best product. In the present study, as the structural material for toothed flexsplines of harmonic drivers, a composite material based on an epoxy resin matrix reinforced with glass or carbon fibres was used. A preliminary numerical modal analysis of the material and structural solutions for the harmonic driver flexsplines assumed to be applied was conducted. Harmonic drive gearhead catalog linkedin slideshare. General introduction of harmonic drive product technique.
Electromechanical simulation and analysis of displacement. We have 1 harmonic drive hfus202a manual available for free pdf download. It is a measure for the degree of harmonicity contained in a signal. Harmonic drive gears have other advantages such as high capacity output bearing, high torque capacity.
Pdf new technologies which are mainly based on high speed and precision robots, manipulators, machine tools, etc. A wide variety of plastic harmonic drive options are available to. Axial displacement of the input shaft is one of the faults of harmonic drives in industrial robots. Harmonic drive systems are precise and specific transmission gear systems which are beneficial in terms of the high transmission ratio and almost zero backlash. For the configuration of drive systems using the products of harmonic drive ag, you may require additional documents. A harmonic gear is a strain wave gear that can recover certain features compared to traditional gearing systems. Along with qualitative information, this report include the quantitative analysis of various segments in terms of market share, growth, opportunity analysis, market value, etc. Hpgr new helical planetary gear hpn new precision planetary hollow shaft gearheads shg2uh new lightweight shf2uh new lightweight shd2uhlw new lightweight hpf new hollow shaft planetary simplicity units shg2sh shf2sh shg2so shf2so phase adjust gearheads hdi gearheads with input shafts shf2uj shg2uj csf1u. The computation of harmonic ratio is similar to that of mpeg7 audio fundamental frequency, except for the used autocorrelation function. We have 1 harmonic drive hfus322a manual available for free pdf download. In combination with a servo motor and a motor feedback system, highly integrated, compact and powerful.
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