Harmonic Drive
The Leader in Precision Motion
MEETING AGENDA
Company Overview Harmonic Drive Gearing Principles Benefits of Harmonic Drive Gearing Design Innovation & Reliability Types of Products Application Examples Conclusion
The Leader in Precision Motion
HD Systems Worldwide
•
Sales: $150 Million Worldwide • Modern facility in Nagano, Japan:
– – – –
150,000Square Feet 300+ Employees ISO 9001 Certified Numerous quality awards
The Leader in Precision Motion
HD Systems Worldwide
Production Facility in Germany
HD Systems, New York
Application & design engineering, assembly, CNC production capabilities, & repair services ISO 9001 Certified
The Leader in Precision Motion
HD Systems Worldwide
Production facility in Peabody, MA
TheLeader in Precision Motion
Harmonic Drive Gearing Principles
The Leader in Precision Motion
Harmonic Drive Gearing Inventor
• Walt Musser – Prolific Inventor – HDG Patent 1957 – www.waltmusser.org
The Leader in Precision Motion
Harmonic Drive Gearing Principles
The Leader in Precision Motion
Harmonic Drive Gearing Principles
Three Gearing Components Form the Basis of theProduct Line
Assembles and Operates Concentrically
Circular Spline
Flexspline Wave Generator
The Leader in Precision Motion
Harmonic Drive Gearing Principles
Wave Generator Elliptical Steel Plug
Special Ball Bearing is Pressed Around Plug
- Forms Elliptical Bearing
Wave Generator
The Leader in Precision Motion
Harmonic Drive Gearing Principles
Flexspline Steel Cup
-Thin Walled: Radially Compliant
- Large Diameter: Torsionally Stiff Teeth on Outer Rim of Cup - Rim (teeth) Conforms to Elliptical Shape of Bearing Flexspline
The Leader in Precision Motion
Harmonic Drive Gearing Principles
Circular Spline Rigid Circular Ring with Teeth on ID
- Has 2 Teeth More Than Flexspline
Teeth of Circular Spline and Flexspline Engage in two regions - EllipseInscribed in a Circle
Circular Spline
The Leader in Precision Motion
Harmonic Drive Gearing Principles
The Leader in Precision Motion
Harmonic Drive Gearing Principles
Rated Torque, Rated Speed: Define Rated Life of Wave Generator Bearing
Rated Torque @Rated Speed = Rated Life (50,000 hr.)
Average Torque, Average Speed Affect Lubricant Life Repeated Peak Torque
Maximum Torque OverTypical Operating Cycle -Unlimited # of Cycles
Momentary Peak Torque
For Emergency Stop
The Leader in Precision Motion
Harmonic Drive Gearing Principles
Flexspline Achieves Infinite Life
Stress
Endurance Limit of Steel
Safety Factor
Flexspline Stress @Repeated Peak Torque
# Cycles
10 6
10 7
10 8
10 9
The Leader in Precision Motion
Robust Design
BucklingTorque
Torque Level/ Rated Torque
Ratcheting Torque Wave Generator Bearing Life L10
Finite Fatigue Life
S-N Curve for Steel
Momentary Torque
Infinite Fatigue Life
Peak Torque Rated Torque ( Reference = 1 )
# Wave Generator Revolutions
The Leader in Precision Motion
Benefits
The Leader in Precision Motion
Benefits
High Positional Accuracy (30 arc-sec)
The Leader inPrecision Motion
Benefits
30 arc-sec (0.5 arc-min) Positional Accuracy
27.72 arc-sec
1 Wave Generator Revolution = 2 Cycles
The Leader in Precision Motion
Benefits
High Gear Ratio
- Single Stage, In-line Configuration
- 30:1 to 160:1 in a Single Stage - Compact
- Geometry is independent of Gear Ratio
- Example for 100:1
- # Flexspline teeth: 200
- # Circular Splineteeth: 202 Ratio = 200 / (200 – 202) = -100
The Leader in Precision Motion
Benefits
Smooth Motion - High Positional Accuracy Provides Smooth Motion
Velocity Ripple ~ d/dt (Position Error) Vibration ~ d2/dt2 (Position Error)
- Torque is distributed on many teeth
- Up to 30% of teeth are always in contact - Load Transfer from Tooth to Tooth is smooth
The Leader in Precision Motion...
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