Harmonic Reducer
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Detailed information
The constitution of harmonic drive
Harmonic drive device mainly consists of three basic parts
wave generator, flexspline and circular spline
Wave Generator
The Wave Generator is an assembly of a thin-raced ball bearing fitted onto the periphery of an elliptical cam. The inner ring of the bearing is fixed around the cam causing the outer ring of the bearing to conform to the same elliptical shape of the assembly. The Wave Generator is usually attached to the input shaft.
Flexspline
The Flexspline is a thin-walled steel cup with gear teeth machined into the outer surface near the open end of the cup. The bottom of the Flexspline (cup bottom) is called the diaphragm. The diaphragm is usually fitted to the output shaft.
Circular Spline
The Circular Spline is a rigid steel ring with teeth on the inside diameter. The Circular Spline has two teeth more than the Flexspline. The Circular Spline is usually fixed to a casing.
Principles of motion
The Flexspline is forced into an elliptical shape by the Wave Generator causing the Flexspline teeth to engage with the tooth profile of the Circular Spline along the major axis of the Wave Generator ellipse, with the teeth completely disengaged across the minor axis of the ellipse.
As the Wave Generator rotates clockwise with the Circular Spline fixed, the Flexspline is subjected to elastic deformation and its tooth engagement position moves turning relative to the Circular Spline.
As the wave generator rotates 180 degrees clockwise, the Flexspline moves counterclockwise by one tooth relative to the Circular Spline.
For every one full rotation clockwise (360 degrees) of the Wave Generator, the Flexspline moves counterclockwise by two teeth relative to the Circular Spline because the Flexspline has two fewer teeth than there are on the Circular spline. In general, this movement is treated as output power.
Characteristics of the HarmonicDrive
High accuracy
High positional and rotational accuracy are assured because a good percentage of its teeth are meshed at all times, and are engaged at two zones 180 degrees apart. This means influences of tooth pitch errors and accumulated pitch errors on rotational accuracy are neutralized to assure high positional and rotational accuracy.
High-speed reduction ratio
A Harmonic Drive has high single-stage coaxial reduction ratios of 1/30 to 1/320. This is why the Harmonic Drive provides high efficiency gearing without using complex mechanisms and structures.
High torque capacity
The Flexspline is made of special steel with a higher resistance to fatigue. Different from a typical power transmission device, each tooth is subjected to a negligible amount of force yet provides a high torque capacity because of the way the teeth come into contact with each other and because roughly 30% of the teeth in the Flexspline are engaged at all times.
Small-sized and lightweight
While being less than 1/3 the size of conventional gearing mechanisms in terms of capacity and less than 1/2 the weight, the HarmonicDrive provides the same levels of torque and speed reduction ratios as its conventional counterparts enabling machinery and equipment to be made smaller and lighter.
Superior efficiency with long service life
Quiet operation and minimal vibration
