Harmonic Drive® Strain Wave Gear Principle | Harmonic Drive SE

The Harmonic Drive® Gear belongs to the group of strain wave gears. The Flexspline is slightly smaller in diameter than the Circular Spline resulting in it having two fewer teeth on its outer circumference. It is held in an elliptical shape by the Wave Generator and its teeth engage with the teeth of the Circular Spline across the major axis of the ellipse. As soon as the Wave Generator starts to rotate clockwise, the zone of the tooth engagement travels with the major elliptical axis. When the Wave Generator has turned through 180 degrees clockwise, the Flexspline has regressed by one tooth relative to the Circular Spline. Each turn of the Wave Generator moves the Flexspline two teeth anti-clockwise relative to the Circular Spline.

[@bartdereu9267]

i have two of these sitting in a robot arm. One broke down after 3 years, the other is still going strong after 11 years and 24/7 usage. pretty impressive

[@HarmonicDriveSE]

Hi Bart, we are pleased that you are satisfied with our products - even if one brokes down after three years. We hope that the other is still going strong another 11 years. :)

[@bartdereu]

Harmonic Drive AG the robot will be taken out of service in 2019 , so another 11 years won’t happen any time soon :D

[@HarmonicDriveSE]

@@bartdereu Do you need an offer for a new robot? ;)

[@bartdereu]

Harmonic Drive AG haha not really , it’s already ordered.

[@HarmonicDriveSE]

@@bartdereu That sounds good!

[@naz95k71]

now this is almost some startrek level tech. sheeeesh so cool!

[@Mynameismms]

Thanks for the video but I don't quite understand the dramatic music in the background ahahah

[@annalovely114]

there are only a few company can make this great piece in the world.

[@HarmonicDriveSE]

We totally agree!

[@jonbowman7686]

This is some amazing engineering!

[@BadAssEngineering]

I came here to understand how the Apollo Lunar Rover worked, thanks

[@HarmonicDriveSE]

We are glad that our video could help you.

[@petrasvestartas4359]

I tried to contact you several times this month for the CSF-25-100-2UH, using email and your official form, not reply and I do not know the price of this drives...

[@elbowgrease4318]

Thank you !

[@dangreenspan8412]

Perhaps someone could remove my ignoranceon a few points. Could the flexspline element develop a cracking issue if used under high loads? It seems like any metal strong enough to be used as a gear would be stiff enough to crack from fatigue. I also wonder if you could wind up with inadequate meshing of the flex spline with the circular splint, resulting in uneven wear more at the tip of teeth than over the whole face of a tooth.

[@HarmonicDriveSE]

Hi Dan, Thanks for your comment, it seems like you have informed you about Harmonic Drive Gears - very good!😊 First of all, as in all mechanical systems, the components are designed to operate within the fatigue limit so that no cracking occurs. Our Flexspline has to be flexible to a certain degree because torque is transmitted from the elliptical rotation of the Wave Generator in an axial way over the Flexspline to be used at the output flange. While using the gear under catalogue conditions the Flexspline operates below fatigue strengths and no cracks will be caused. As a outcome from a mistake in the alignment of the Flexspline to the Circular Spline there can be mistakes in terms of accuracy or vibrations but this does not result in total failure of the gear. The lifetime dominating component in our Harmonic Drive Gear is the bearing, like in nearly every mechanical gear system. We hope that helps 😊 If you have any further questions feel free to have a look at our Brochure at www.harmonicdrive.de or to contact our Info-Center.

[@-ydpbalisa4661]

excellent products

[@HarmonicDriveSE]

We appreciate your positive feedback.

[@deepg2477]

the ultimate in mechanical engineering = harmonic drive strain wave generator gearbox

[@fernandoalgo1577]

What is the gear ratio?and what is the way out?

[@stloljk]

the outer ring with internal teeth is torque out

[@stevenph93]

iRPM[(FST# - CST#)/FST#]=oRPM . Wave generator is input. Ex. 50[(50-52)/50]=-2. Pretty awsome stuff. Small robots use this type of reduction alot, due to reduced space and wheight.

[@azatavazov5984]

the bearing is not of the correct shape, it will jam, the outer part of the bearing and the cage must be soft so that the construction on the video works.

[@nemo5654]

Any idea of what material is used for the flex spline component?

[@lebaillidessavoies3889]

I had the same question .....

[@alexlo7708]

Elastic metal property , I think Titanium alloy.

[@movax20h]

Is back driving with high load and idle motor safe with SWG?

[@HarmonicDriveSE]

Strain wave gears are not self-locking - due to their principle. Our technical support team will be happy to provide you with comprehensive advice: [e-mail].

[@伊藤来-h1z]

自然科学特論から来ました