Oct 26, 2011 in over 40 years of operation, harmonic drive ag has developed into a prestige solution provider for high precision drive technology with around 400 employees at its limburg facility in germany. Page 56 of the pdf you linked shows why there are three different stiffness values there is a nonlinear. These generally are based on standard motor speeds. Modeling and analysis of hysteresis in harmonic drive gears rached dhaouadia, and fathi ghorbelb adivision of electrical, electronics and computer engineering, american university of sharjah, p. Gear ratio of a single stage harmonic drive having steel flexible wheel ranges from 60 to 600. Strain wave harmonic gear units and component sets wp series variants, flexwave product family achieving new heights in compact, zero backlash gear technology.
We will work with you individually to find the perfect set up for your application. Calculate required motor torque through harmonic drive. Quickly filter through a wide range of gear ratios and torque ratings to find the best product. Theory and practice of harmonic drive mechanisms iopscience. Harmonic drive is the brand name of strain wave gear trademarked by the harmonic drive company, and invented in 1957 by c. Strain wave gearing also known as harmonic gearing is a type of mechanical gear system that can improve certain characteristics compared to traditional gearing systems such as helical gears or planetary gears. Hduc getriebeboxen sind fur fettschmierung ausgelegt. These gearheads can be easily adapted to any oem servo motor.
During life testing of an actuator assembly, the harmonic gear teeth failed completely, leaving the size32 harmonic gear with a maximum output torque capability less than 10% of its design capability. We have experienced customer service representatives standing by ready to help you. In combination with a servo motor and a motor feedback system, highly integrated, compact and powerful servo actuators are created. Pdf the failure process and failure mechanism of the flexspline in harmonic reducer system after 500h operation were analyzed. Nonlinear dynamic modeling and experiment of harmonic. You stretch the flex spline so that it engages on opposite sides typically of the outer gear. The gearhead incorporates a harmonic drive gear component into an integral housing. On the kinematic error in harmonic drive gears request pdf. Paper open access theory and practice of harmonic drive. Analysis of harmonic gear drive efficiency based on the 3d. Gear units are very compact, robust and easy to use gearheadgearbox solution. Harmonic drive gears or planetary gears are the starting point for all products. Harmonic drive gear solutions harmonic gearing cone drive. The comparisons with the other types of actuator gear which are harmonic drive gear and normal planetary gear are described.
The stretching mechanism, called the wave generator. Whether it is servo actuators, direct drives, gears with the strain wave gear principle, planetary gears or special drives to meet individual customer specifications harmonic drive. If you require any other information, please contact us using form located at the bottom of the page. Precision planetary gearing products are available with gear ratios from 3. The fundamentals of specifying and selecting gear drives. Dynamic simulation of harmonic gear drives considering. The flexspline is slightly smaller in diameter than the circular spline resulting in it having two fewer teeth on its outer. Harmonic drive, mechanical speedchanging device, invented in the 1950s, that operates on a different principle from, and has capabilities beyond the scope of, conventional speed changers. Catalog rated performance may not be achieved if the component parts are interchanged. A relubrication of the gearboxes is normally not necessary. Continuous backlash compensation harmonic drives expertise in the field of elastomechanics of metals is applied to the internal gear of the hpg.
The gearboxes are supplied with harmonic drive lifetime lubricant which is a high performance grease that meets the specific requirements of the harmonic drive gears. Harmonic distortion harmonic problems are becoming more apparent because more harmonic producing equipment is being applied to power systems vfds electronic ballasts ups additionally, in many cases, these electronic based devices can also be more sensitive to harmonics effective grounding surge solutions harmonic solutions. It guarantees constant accuracy of the gears for the whole life. Any input speeds above these limits should be discussed with the manufacturer, as they may exceed the design capabilities of the drive. Machining centre nc rotary table increasingly harmonic drive gears are being used to replace worm or planetary gears in the precise rotary axes of machine tools. Tell your friends and customers you were featured in the article minimal tooth number of flexspline in harmonic gear drive with external wave generator. Strain wave gear principle harmonic drive ag youtube. The lab has the capacity to test a wide range of gear reducer products, for both cone drive products as well as those manufactured by other companies. Our simplicity gear units are nonhoused component gearing combined with a precision cross roller output bearing. Unblown competition includes fuel pump drive and adapter plate.
This results in both tangential and radial forces, w t and w r, on the gear pair. Documentation is provided for all products offered by harmonic drive ag and can be found in pdf format on the website. The csg2uh series is a compact precision gearhead which has zero backlash as well as exceptional accuracy and repeatability. The harmonic drive is widely used in robotic arm, precision full work, in medical equipment as well as used in speed reduction devices for compact spacing for space application and military missions. The perimeter of this disc is geared to a stationary. Meanwhile, the distribution of the flexspline stress and the load characteristics of the flexspline tooth during dynamic transmission process of a harmonic gear with parameters, before and after optimization, are. This page contains technical data sheet, documents library and links to offering related to this product. Minimal tooth number of flexspline in harmonic gear drive with external wave generator. And can have a reduction ratio upto 300 in single stage only. Design aspects of harmonic drive gear and performance. The results show that the efficiency of harmonic gear drive increases with the output torque increased, and it has no relation with input rotational speed. The greatest benefits are the zerobacklash characteristics and the weight and space savings compared to other gears because our gear mechanism consists of only three basic parts. Harmonic drive canada, gears, harmonic drive, harmonic. Pdf theory and practice of harmonic drive mechanisms.
Understanding and modeling the behavior of a harmonic drive gear transmission. Small gear driving large gear under drive under drive happens when carrier is the output under drive increases torque decreases speed large gear driving smaller gear overdrive overdrive happens when the carrier is the input if the carrier is held, the gear set goes to reverse. Understanding and modeling the behavior of a harmonic. Essential difference between harmonic drive and conventional gear drive is that flexspline in harmonic drive is flexible and the center distances of teeth vary continuously during meshing. Parameter optimization of harmonic gear drive based on. Pdf application of harmonic drive gears in machine tools. It is via the elastic deformation of the flexspline that a harmonic gear drive hgd. The cost for the harmonic gear drive is much higher than that of. As of today we have 77,691,594 ebooks for you to download for free. 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 simulated by abaqus. Harmonic gear drives have advantages that other drives do not, such as simpler.
Failure of harmonic gears during verification of a two. It consists of a thin ring that deflects elastically as it rolls on the inside of a slightly larger rigid. The phd, is a planar, three degree of freedom arm with torque sensors integral to each joint allowing joint torque feedback to be implemented. In this manner, several output speeds on different shafts can be produced from a single input rotation. The present article is started first making the comparative study of harmonic drive gear over conventional gear, highlighting its historical background, its application, limitation etc. Harmonic drive precision drive technology based on the strain wave gear principle can be found in machine tools, and of course also in robotics, the aerospace industry, and numerous other key industries. Media in category harmonic drives the following 11 files are in this category, out of 11 total. The harmonic drive gear is a mechanism that is ideal for use in applications where precise positioning with high gear reduction is required. Just copy one of the highlighted code examples below and paste it into your websites html.
Harmonic drive is the brand name of strain wave gear trademarked by the harmonic drive company. It is now more than 25 years since the first harmonic drive gears were used in space during the apollo 15 mission. Harmonic drive gears have other advantages such as high capacity output bearing, high torque capacity, excellent positioning accuracy and repeatability, compact. The gearhead also features a high capacity cross roller bearing and output flange to support the load. Easily find a gearhead to match your servomotor using our product selector tool. Csd402uh harmonic drive gearhead bearings csd40xrb are cros. Harmonic drive ag strain wave gear set consisting of wave generator bearing top left, flexspline cup top right and circular spline ring bottom. Csd32 harmonic reducer output bearings are crossed roller bea. Minimal tooth number of flexspine in harmonic gear drive. Feature the fundamentals of specifying and selecting gear drives manufacturers catalogs list input speeds for the highspeed shaft of each type of drive. Harmonic drive gear products offer zerobacklash with gear ratios from 30. This study based on the finite element method, the type of xb1120100 harmonic drive output torque and input rotational speed impact on transmission efficiency has been analyzed. Minimal tooth number of flexspline in harmonic gear drive.
Csf harmonic drive gear head bearing,shf harmonic reducer bearing. Hanzh harmonic gear drive china supplier of harmonic drive, gear, drive device. Harmonic drive mechanisms which are based on the elasticity dynamics and flexibility of metals are usually applied in the realization of humanoid joints 23, 24. Harmonic gear drives have advantages that other drives do not, such as simpler structure. Cycloidal speed reducers are capable of relatively high ratios in compact sizes with very low backlash the input shaft drives an eccentric bearing that in turn drives the cycloidal disc in an eccentric, cycloidal motion. High capacity output bearings are utilized for robust and accurate support of loads. This complexity necessitates a more real life approach. Harmonic drive products offer zerobacklash with gear ratios from 30. Offered in a variety of compact designs including hollow shaft configurations. Harmonic gear drive china supplier of harmonic drive, gear, drive device. Request pdf parameter optimization of harmonic gear drive based on hybrid genetic algorithm addressing problems of larger volume of harmonic gear in the conventional design, in this paper, a. Application of harmonic drive gears in machine tools. The performance and life of fluidlubricated harmonic drive gears emyr w roberts and paul bridgeman 1, markus jansson and matthias schulke 2, adam tvaruzka 3 1 estl, esr technology a hyder consulting group company, 202 cavendish place.
For the configuration of drive systems using the products of harmonic drive ag, you may require additional documents. Unlike conventional spur gears, the harmonic gear is capable of averaging the effects of tooth pitch errors and accumulated pitch errors to the rotational accuracy, thus achieving highly accurate, non. In 1988, harmonic drive successfully designed and manufactured a new tooth pro. 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. When these gears are mounted on a shaft, the radial force causes a bending moment while the tangent force causes both a bending moment and a torque. A harmonic drive is a very simple gear reducer that lends itself well to 3d printing. In broad users actual environment, prime mover such as motor or gas engine cannot connect with load directly because its rotation speed or output power and torque cannot reach requirement.
Understanding and modeling the behavior of a harmonic drive. Paper open access failure analysis of a flexspline of. With a torque of 250 nm and a rated speed of 2000 rpm, the robot performed the operation in strict accordance with the rules. These pinions engage with an internally toothed ring gear, which is supported by a very stiff axialradial needle roller bearing.
The model includes clearance, nonlinearity torsional stiffness and nonlinearity damping. Pdf failure analysis of a flexspline of harmonic gear. Gear meshing results in contacts with normals along the line of action, so the resultant force, w is along this line. For unification purpose geometry parameters of gear engagement are the same. General introduction of harmonic drive product technique. This simple three element construction combined with the unique operating principle allows extremely high reduction ratio in a very compact and lightweight package.
Csf2550gr harmonic reducer bearing csf25, size 208518. Minimal tooth number of flexspine in harmonic gear drive with. A cycloidal drive or cycloidal speed reducer is a mechanism for reducing the speed of an input shaft by a certain ratio. Harmonic gearing utilizes a unique operating principle which is based upon the elastic mechanics of metals. The flex spline has a few less teeth typically 2 less than the outer gear. When the output shaft takes the value of rated torque tout. Meshing analysis of harmonic drive, meshing characteristics of the teeth with its advantages.
Csd2a series component sets are available in seven sizes with gear ratios of 50, 100 and 160. Harmonic drive gears have been evolving since the strain wave gear was. Harmonic drive is the brand name of strain wave gear trademarked by the. Preliminary testing using the phd has shown that a simple linear spring model of the harmonic drive s flexibility is suitable x.
A nonlinear torsional vibration model of harmonic gear drive is proposed in the current study. Structure of harmonic drive unit component type wave generator driven by a unique operating principle applying elastodynamics of metals and comprising of only three basic parts wave generator, flexspline and circular spline, harmonic drive products reveal excellent features not found in other speed reducers. This third gear then drives a mating fourth gear that serves as output for the second stage. Harmonic drive, harmonic drive gear head, harmonic drive gearbox reducer, harmonic drive gear high torque capacity high rigidity backlashless than 20 arc sec high positional accuracy and high rotational accuracy high efficiency smoothness of operation coaxial input and output. Harmonic drive strain wave gear precision gear solutions. The cone drive product development laboratory is a stateoftheart facility directly adjacent to our traverse city, michigan manufacturing location. Our innovative development and engineering teams have led us to signi. This gear type, also known as strain wave gearing is a standard transmission component in a wide range of application areas, from industrial robots and machine tools to printing machines, medical equipment and machines for semiconductor manufacturing. Dynamic simulation of harmonic gear drives considering tooth.
It uses a rigid outer gear and an inner flex spline. Harmonic drive systems provides speed reducers for highly precise. The harmonic gear is a preassembled stepper motor and gear which offers unparalleled precision in positioning and features a simple structure. A d100 harmonic drive is simulated based on the contact theory and the explicit algorithm of the finite element method. It is used where exact poditional accuracy is having main importance, like robots, sattellite launching, radars etc. The article minimal tooth number of flexspline in harmonic gear drive with external wave generator should appear in the box below, but if you do not see it, you can download it here. General introduction of harmonic drive product technique hanzhen harmonic drive classification of drive technique. Servo actuators are an assembly of a brush or brushless servo motor, zero backlash harmonic drive gear, and a high capacity output bearing.