In this paper the kinematic analysis and enumeration of these less known gear. The perimeter of this disc is geared to a stationary. Established in the year 1987, mukund transgears is a prominent manufacturer, exporter and supplier of a wide range of industrial equipment. Pdf theory and practice of harmonic drive mechanisms. Harmonic drive gears have other advantages such as high capacity output bearing, high torque capacity, excellent positioning accuracy and repeatability, compact.
Pdf among different mechanical drives of industrial application harmonic. Documentation is provided for all products offered by harmonic drive ag and can be found in pdf format on the website. When used as a when used as a speed reducer, the wave generator acts as the in put element. Harmonic drive gears are components for installation in machines as. Not all matches represented here may be suitable for your intended.
Design aspects of harmonic drive gear and performance. Harmonic gear drives have advantages that other drives do not, such as simpler structure. Pdf application of harmonic drive gears in machine tools. Sha series ac servo actuators provide high torque and highly accurate rotary operation. A wide variety of harmonic drive gearbox options are available to you, such as harmonic, spur, and helical. Strain wave gear principle harmonic drive ag youtube. Although the motor and gear data used on this site is believed to be accurate, no warranty is expressed or implied regarding the accuracy, adequacy, completeness, reliability or usefulness of this information. Our hpn range is a more conventional gear with helical gearing to increase torque capacity and lower noise, this is available in accuracies of up to 5 arc minutes. Unipolar single wave harmonic drive ratio can reach 50300, optimizing can reach 75250. 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. Strainwave gear the ultimate in accuracy and quality is a strainwave gear, also known generically as a harmonic drive. Theyll give your presentations a professional, memorable appearance the kind of sophisticated look that todays audiences expect.
Understanding and modeling the behavior of a harmonic. For a class of nonlinear harmonic gear drive systems with mismatched uncertainties, a novel robust control method is presented on the basis of quadratic integral sliding mode surface, and the closedloop system has satisfying performance and strong robustness against mismatched uncertainties and nonlinear disturbances. Precision planetary gearing products are available with gear ratios from 3. The combined harmonic drive gearing is a class of differential gears composed of traditional and harmonic drive gears. The three elements of the basic harmonic drive are shown in the figure.
For over 50 years, harmonic drive has been youre your partner for precision motion control. Dynamic model of a harmonic drive in a toothed gear. There are therefore four key themes driving current. Download harmonic drive llc catalogs or assembly instructions.
Ppt harmonic drive gearing powerpoint presentation. Harmonic drive products offer zerobacklash with gear ratios from 30. All tabulated harmonic drive gear reduction ratios assume output through the flexspline with the circular spline rotationally fixed. High capacity output bearings are utilized for robust and accurate support of loads.
It consists of a thin ring that deflects elastically as it rolls on the inside of a slightly larger rigid circular ring. 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. Dynamic simulation of harmonic gear drives considering. Additionally, this software matches the mechanical performance characteristics of the selected motors and gears. Hfus2a component sets engineering data harmonic drive. Harmonic drive a guide to choosing gears for robotics. 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. All content is posted anonymously by employees working at harmonic drive.
Because the teeth on the wheel rim of the flexspline are distributed radially, there is a bigger stress concentration on the tooth root of the flexspline meshing with a circular spline, where a fatigue fracture is more likely to occur under the alternating force exerted by the wave generator. In this design example, the flexspline of a harmonic drive gears component set acts as output element. 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 ag designs. Quadratic integral sliding mode control for nonlinear.
Wave generators are located inside of flexsplines in most harmonic gear drive devices. Csf32160gh csf32160gh your current units are metric. But in common gear drive, joggle teeth at the same time only can be 27%, for. Save as pdf email this page print this page csf catalog full catalog assembly instructions. Gear dimensions see drawing flange dim a motor adapter flange bore dia. Harmonic drive gear solutions harmonic gearing cone drive. The harmonic drive gear is the subject of continuous development, due to new market requirements from each of the major application areas. Minimal tooth number of flexspine in harmonic gear drive. This harmonic drive provides accurate as well as precision with much less. Each size, style, and ratio has undergone extensive testing in our stateoftheart dynamometer facility to ensure each part we produce will meet the demands of your application.
Common requirements are the desire for higher power density, higher torsional stiffness and lower ratios. Pdf kinematics and enumeration of combined harmonic. Engineering data hpgp harmonic planetary gears harmonic drive. An experimental study of nonlinear stiffness, hysteresis, and friction effects in robot joints with harmonic drives and torque sensors. The output flange is supported by a precision output bearing needleroller. We note that the transmitted torque across the harmonic drive represents a nonlinear coupling factor between the motor side and the load side dynamics. Numerical analysis of selected materials for flexsplines. Considering timevarying nonlinear torques and parameters variations which. The model obtained in matlabsimulink 15 takes into account the interactions of different internal and external factors that occur during gear operation in power transmission system.
Winner of the standing ovation award for best powerpoint templates from presentations magazine. 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. Multiple wave harmonic drive ratio can realize 300150,000 moreteeth of engagement at the same time harmonic drives joggle teeth at the same time can reach 30%, or even more. Harmonic drive gears have been evolving since the strain wave gear was first patented in 1955.
A cycloidal drive or cycloidal speed reducer is a mechanism for reducing the speed of an input shaft by a certain ratio. Before commissioning products from harmonic drive ag with servo drives, we advise. This means there is no need to readjust gears to remove backlash, as is common with worm gears or planetary gears. Pdf on the kinematic error in harmonic drive gears. With smaller dimensions and a lower weight compared with conventional gear types, they are suitable for use in lighter and more compact applications and systems. Understanding and modeling the behavior of a harmonic drive gear transmission. Harmonic drive gears are components for installation in machines as defined.
The harmonic drive is a backlash free precision gear and is unusual in using an elastically deformable component to achieve a high reduction ratio in just a single. Worlds best powerpoint templates crystalgraphics offers more powerpoint templates than anyone else in the world, with over 4 million to choose from. 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. Save as pdf email this page print this page gear options. This was the forerunner of harmonic drive systems, a company that grew globally, including a. The sha series features a large hollow shaft in a compact package.
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. General introduction of harmonic drive product technique. He has 23 years of experience in the field of gear box manufacturing and it is through his sharp managerial skills and dynamic approach that we have made it to the top. Harmonic gearing utilizes a unique operating principle which is based upon the elastic mechanics of metals. Harmonic drive harmonic planetary product selector tool motor matching tool gearhead selector downloads. Minimal tooth number of flexspline in harmonic gear drive. Pdf analysis of flexspline in the harmonic drive system.
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