Zero backlash: Harmonic Drive gears exhibit no increase in backlash during their complete operating life.
Excellent positioning accuracy and repeatability: Harmonic Drive gears provide a positioning accuracy of less than one minute of arc and a repeatability of just a few seconds of arc
Small dimensions and low weight: Harmonic Drive gears are much more compact and significantly lighter than conventional gears.
High torque capacity: Since power is transmitted through multiple tooth engagement Harmonic Drive gears offer a torque capacity higher than conventional gears.
High single-stage reduction ratios: High single-stage reduction ratios ranging from 30:1 to 320:1 can be achieved with only three gear components.
High efficiency: an efficiency of up to 85% can be achieved under rated operating conditions. Harmonic Drive gears are not self-locking and do not exhibit stick-slip effects.
High torsional stiffness: Harmonic Drive gears exhibit very high torsional stiffnes over the complete torque range, as well as almost linear hysteresis behaviour.
High reliability and long operating life
Principle of operation
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 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.
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