Design aspects of harmonic drive gear and performance. Dynamic simulation of harmonic gear drives considering tooth. 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. Continuous backlash compensation harmonic drives expertise in the field of elastomechanics of metals is applied to the internal gear of the hpg. 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.
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. The failed flexspline was compared with the sncm439 1 flexspline, which was in compliance with the jis g40532003 executive standard. 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. Media in category harmonic drives the following 11 files are in this category, out of 11 total. Hanzh harmonic gear drive china supplier of harmonic drive, gear, drive device.
The harmonic gear is a preassembled stepper motor and gear which offers unparalleled precision in positioning and features a simple structure. 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 results in both tangential and radial forces, w t and w r, on the gear pair. Harmonic drive ag strain wave gear set consisting of wave generator bearing top left, flexspline cup top right and circular spline ring bottom. Pdf theory and practice of harmonic drive mechanisms. The fundamentals of specifying and selecting gear drives. It uses a rigid outer gear and an inner flex spline. 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. 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. The cost for the harmonic gear drive is much higher than that of. Harmonic drive is the brand name of strain wave gear trademarked by the harmonic drive company, and invented in 1957 by c.
Unblown competition includes fuel pump drive and adapter plate. Offered in a variety of compact designs including hollow shaft configurations. The stretching mechanism, called the wave generator. Our innovative development and engineering teams have led us to signi. 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.
Pdf application of harmonic drive gears in machine tools. Harmonic drive gears have been evolving since the strain wave gear was. We will work with you individually to find the perfect set up for your application. 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. A d100 harmonic drive is simulated based on the contact theory and the explicit algorithm of the finite element method. Meshing analysis of harmonic drive, meshing characteristics of the teeth with its advantages. 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. It is used where exact poditional accuracy is having main importance, like robots, sattellite launching, radars etc. 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. Csd32 harmonic reducer output bearings are crossed roller bea. Nonlinear dynamic modeling and experiment of harmonic. These generally are based on standard motor speeds. 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. 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.
General introduction of harmonic drive product technique hanzhen harmonic drive classification of drive technique. Minimal tooth number of flexspine in harmonic gear drive with. Quickly filter through a wide range of gear ratios and torque ratings to find the best product. It is via the elastic deformation of the flexspline that a harmonic gear drive hgd. The comparisons with the other types of actuator gear which are harmonic drive gear and normal planetary gear are described.
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. 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. With a torque of 250 nm and a rated speed of 2000 rpm, the robot performed the operation in strict accordance with the rules. 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. Parameter optimization of harmonic gear drive based on.
It consists of a thin ring that deflects elastically as it rolls on the inside of a slightly larger rigid. Minimal tooth number of flexspine in harmonic gear drive. On the kinematic error in harmonic drive gears request pdf. Gear meshing results in contacts with normals along the line of action, so the resultant force, w is along this line. Harmonic gearing utilizes a unique operating principle which is based upon the elastic mechanics of metals. Harmonic drive gear solutions harmonic gearing cone drive. A nonlinear torsional vibration model of harmonic gear drive is proposed in the current study. Easily find a gearhead to match your servomotor using our product selector tool. It is now more than 25 years since the first harmonic drive gears were used in space during the apollo 15 mission. Hduc getriebeboxen sind fur fettschmierung ausgelegt.
Analysis of harmonic gear drive efficiency based on the 3d. As of today we have 77,691,594 ebooks for you to download for free. 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 gear drives have advantages that other drives do not, such as simpler. The cone drive product development laboratory is a stateoftheart facility directly adjacent to our traverse city, michigan manufacturing location. 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.
Tell your friends and customers you were featured in the article 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. These gearheads can be easily adapted to any oem servo motor. Gear ratio of a single stage harmonic drive having steel flexible wheel ranges from 60 to 600. Harmonic gear drive china supplier of harmonic drive, gear, drive device. Harmonic drive canada, gears, harmonic drive, harmonic. The model includes clearance, nonlinearity torsional stiffness and nonlinearity damping. This complexity necessitates a more real life approach. A relubrication of the gearboxes is normally not necessary. Minimal tooth number of flexspline in harmonic gear drive with external wave generator. The perimeter of this disc is geared to a stationary.
This third gear then drives a mating fourth gear that serves as output for the second stage. Our simplicity gear units are nonhoused component gearing combined with a precision cross roller output bearing. Understanding and modeling the behavior of a harmonic drive gear transmission. Gear units are very compact, robust and easy to use gearheadgearbox solution. These pinions engage with an internally toothed ring gear, which is supported by a very stiff axialradial needle roller bearing. Csd2a series component sets are available in seven sizes with gear ratios of 50, 100 and 160.
Documentation is provided for all products offered by harmonic drive ag and can be found in pdf format on the website. Catalog rated performance may not be achieved if the component parts are interchanged. In combination with a servo motor and a motor feedback system, highly integrated, compact and powerful servo actuators are created. In 1988, harmonic drive successfully designed and manufactured a new tooth pro. 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. The flex spline has a few less teeth typically 2 less than the outer gear. Application of harmonic drive gears in machine tools.
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. Paper open access theory and practice of harmonic drive. If you require any other information, please contact us using form located at the bottom of the page. A cycloidal drive or cycloidal speed reducer is a mechanism for reducing the speed of an input shaft by a certain ratio. 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. 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. General introduction of harmonic drive product technique. Csf2550gr harmonic reducer bearing csf25, size 208518.
Dynamic simulation of harmonic gear drives considering. Pdf failure analysis of a flexspline of harmonic gear. Page 56 of the pdf you linked shows why there are three different stiffness values there is a nonlinear. Strain wave gear principle harmonic drive ag youtube. When the output shaft takes the value of rated torque tout. Understanding and modeling the behavior of a harmonic drive. The gearhead also features a high capacity cross roller bearing and output flange to support the load. 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 drive gears or planetary gears are the starting point for all products. 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. This page contains technical data sheet, documents library and links to offering related to this product. Calculate required motor torque through harmonic drive. Harmonic drive strain wave gear precision gear solutions.
Servo actuators are an assembly of a brush or brushless servo motor, zero backlash harmonic drive gear, and a high capacity output bearing. Paper open access failure analysis of a flexspline of. The csg2uh series is a compact precision gearhead which has zero backlash as well as exceptional accuracy and repeatability. The flexspline is slightly smaller in diameter than the circular spline resulting in it having two fewer teeth on its outer. Harmonic gear drives have advantages that other drives do not, such as simpler structure. For the configuration of drive systems using the products of harmonic drive ag, you may require additional documents.
You stretch the flex spline so that it engages on opposite sides typically of the outer gear. Harmonic drive systems provides speed reducers for highly precise. Failure of harmonic gears during verification of a two. Harmonic drive products offer zerobacklash with gear ratios from 30. Feature the fundamentals of specifying and selecting gear drives manufacturers catalogs list input speeds for the highspeed shaft of each type of drive. 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.
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. Preliminary testing using the phd has shown that a simple linear spring model of the harmonic drive s flexibility is suitable x. It guarantees constant accuracy of the gears for the whole life. Harmonic drive gear products offer zerobacklash with gear ratios from 30. This simple three element construction combined with the unique operating principle allows extremely high reduction ratio in a very compact and lightweight package. 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. Pdf the failure process and failure mechanism of the flexspline in harmonic reducer system after 500h operation were analyzed. In this manner, several output speeds on different shafts can be produced from a single input rotation. Harmonic drive gears have other advantages such as high capacity output bearing, high torque capacity, excellent positioning accuracy and repeatability, compact. 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. Csf harmonic drive gear head bearing,shf harmonic reducer bearing. Strain wave harmonic gear units and component sets wp series variants, flexwave product family achieving new heights in compact, zero backlash gear technology.
The harmonic drive gear is a mechanism that is ideal for use in applications where precise positioning with high gear reduction is required. The gearhead incorporates a harmonic drive gear component into an integral housing. Any input speeds above these limits should be discussed with the manufacturer, as they may exceed the design capabilities of the drive. A harmonic drive is a very simple gear reducer that lends itself well to 3d printing. The phd, is a planar, three degree of freedom arm with torque sensors integral to each joint allowing joint torque feedback to be implemented. Theory and practice of harmonic drive mechanisms iopscience. 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. Understanding and modeling the behavior of a harmonic. High capacity output bearings are utilized for robust and accurate support of loads. 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. 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. For unification purpose geometry parameters of gear engagement are the same.
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