Get the best deals on harmonic drive plc processors when you shop the largest online selection at. New gear locking design in synchromesh gearbox which reduces. Dynamic simulation of harmonic gear drives considering tooth. Actuators combine a synchronous servo motor, unit from the cpuh series, feedback. The csg achieved a 30% increase in torque capacity.
Harmonic drive gear and wrist end mechanism in industrial robots. Epicyclic gearing systems also incorporate the use of an outer ring gear or annulus, which. 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. Not all matches represented here may be suitable for your.
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. Pdf a nonlinear model for harmonic drive friction and. As a technology leader in the field of high precision drive technology, harmonic drive ag is continuously developing sophisticated and tailored solutions for their customers. Direct drives, hollow shaft servo actuators by harmonic drive. This causes the ring gear to rotate in a direction opposite that of the sun. An investigation into the vibration of harmonic drive systems article pdf available in frontiers of mechanical engineering in china 84. Files are available under licenses specified on their description page.
Servo actuators are an assembly of a brush or brushless servo motor, zero backlash harmonic drive gear, and a high capacity output bearing. The present paper discusses certain aspects of dynamic modeling of the harmonic drive. Additionally, this software matches the mechanical performance characteristics of the selected motors and gears. Harmonic drive is the brand name of strain wave gear trademarked by the harmonic drive. Understanding the impact of the geometric adaptations allows transfer of the optimized design to the new, smaller gear. 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. It is very commonly implemented in robotics today 1 and used in aerospace as well, 2 for gear reduction but may also be used to increase rotational speed, or for differential gearing. The cone drive product development laboratory is a stateoftheart facility directly adjacent to our traverse city, michigan manufacturing location. Design of a harmonic drive test apparatus for data. These gearheads can be easily adapted to any oem servo motor. Harmonic drive products offer zerobacklash with gear ratios from 30. Merger gear transmission is currently assisting the end user customers and distributors in the replacement of gear drives of any brand.
Epicyclic gearing or planetary gearing is a gear system consisting of one or more outer, or planet, gears or pinions, revolving about a central sun gear or sun wheel. Gear component sets extremely compact design ensures installation in applications with the most demanding space requirements. Pdf theory and practice of harmonic drive mechanisms. Select or drag your files, then click the merge button to download your document into one pdf file. Application of harmonic drive gears in machine tools. Harmonic drive gears or planetary gears are the starting point for all products. The smallest gear box in the series has a diameter of just 20 mm. Easily find a gearhead to match your servomotor using our product selector tool. History corporate information harmonic drive systems. A wide variety of harmonic drive gearbox options are available to you, such as harmonic.
Understanding and modeling the behavior of a harmonic. Make offer harmonic drive hd 17100, gear,gearhead,reducer. Ppt harmonic drive gearing powerpoint presentation. 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 innovative development and engineering teams have led us to signi. 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. Group branch leaderdrive is a professional company which is engaged in research, design and production of precise harmonic drive device. Our highprecision, zerobacklash harmonic drive actuators and gears have, and continue. Feb 18, 2016 harmonic drive gear and wrist end mechanism in industrial robots 1. The surface temperature of gears, motors and actuators can exceed 55. This is achieved by making changes in the entry chamfers which are the. High precision harmonic drive gear and drives madein germany are used in key industries such as.
Speed reducer, gearbox conception and manufacturing. In order to provide a quotation please send us technical specifications together with the overall dimension drawing of the existing gear unit. Typically, the planet gears are mounted on a movable arm or carrier, which itself may rotate relative to the sun gear. 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. Cha series hollow shaft servo actuators combine a synchronous servo. 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. An experimental study of nonlinear stiffness, hysteresis, and friction effects in robot joints with harmonic drives and torque sensors. Harmonic drive will employ approximately 90 individuals. Harmonic drive a guide to choosing gears for robotics. A drive shaft 4 leading fromthe engine not shownenters the housingl and 5 has a gear 5 meshin with a gear 6,thelatter being mounted upon the clutch shaft 3 see figures 1 and 2. Csd2a series component sets are available in seven sizes with gear ratios of 50, 100 and 160. Harmonic drive wikimili, the best wikipedia reader. The key element of harmonic drive gearboxes is a component set within a housing with a flange or shaft as output assembly.
Harmonic drive gearboxes are used in a wide variety of motion control and power transmission applications. Nonlinear modelling and identification of torsional behaviour. 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. Since this arrangement is reminiscent of planets orbiting the sun, the central wheel is also referred to as the sun gear, while the surrounding ones are called planet gears.
Modeling and analysis of hysteresis in harmonic drive gears rached dhaouadia, and fathi ghorbelb adivision of electrical, electronics and computer engineering, american university of sharjah, p. The newly formed joint companny will be named harmonic drive llc. The new ultraflat, ultralight brushless actuators combine our highprecisionhigh. Ownership is split between hd systems 51% and nabtesco usa 49%. Merger gear transmission gearbox and speed reducer specialist.
Minimal tooth number of flexspine in harmonic gear drive with. By allowing both the planet carrier and the ring gear to rotate, a differential gear drive is produced, the output speed of one. Fhac series hollow shaft servo actuators combine a synchronous servo. By pursuing strength and stiffness, a new the csf achievedcsf tooth profile a reduction in was invented. These signals are processed and recorded by a dspace data acquisition board. Harmonic drive ag strain wave gear set consisting of wave generator bearing top left, flexspline cup top right and circular spline ring bottom. For strain wave gearing mechanism the gearing reduction ratio can be calculated as follows. The combined harmonic drive gearing is a class of differential gears composed of traditional and harmonic drive gears. The new lynxdrive series servo actuators combine harmonic. Harmonic drive systems hpg20a21j6gck planetary gear.
Each size, style, and ratio has undergone extensive testing in our stateoftheart dynamometer facility to ensure each part. Pdf application of harmonic drive gears in machine tools. The comparisons with the other types of actuator gear which are harmonic drive gear and normal planetary gear are described. Pdf doublearc harmonic gear profile design and meshing. If a task requires a high torque output or speed, a larger drive or one with specific gear ratios will be necessary. Pdf on the kinematic error in harmonic drive gears. On the kinematic error in harmonic drive gears request pdf. So called, due to its earthworm like movement, the worm drive consists of two parts, the screw shaped worm gear and the larger spurshaped worm wheel. The ags is packaged as an addon set of two wheelchair wheels each with its own 3speed transmission connecting the hand rim and tire and onboard electronics for gear shifting.
The life of the harmonic drive gear is affected by the grease. 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 development was performed introducing a gear zirconline20100. Transmission fundamentals third gear third gear drive torque is applied to the torque converter impeller and transferred to the turbine. Us3214999a us358673a us35867364a us3214999a us 3214999 a us3214999 a us 3214999a us 358673 a us358673 a us 358673a us 35867364 a us35867364 a us 35867364a us 3214999 a us3214999 a us 3214999a authority us united states prior art keywords gear harmonic drive flexible teeth gears prior art date 19640409 legal status the legal status is. For more precise and exact movements, drives that have a high accuracy and repeatability are required. The a clutch and the b clutch are locked, this causes the rear input ring gear to be locked to the sun gear in the simpson gear set. Harmonic drive gears have been evolving since the strain wave gear was. It has been suggested that this article be merged into strain wave gearing. An investigation into the vibration of harmonic drive systems. This paper introduces a new design for the synchromesh gear boxes, which serves dual purpose of economizing the production cost and time of the gears manufacturing and enhancing the shift experience by reducing the shift effort. Automatic transmission basics linnbenton community college. In this paper the kinematic analysis and enumeration of these less known gear.
Technical information product handling harmonic drive. Low gear ratios for high dynamics harmonic planetary gears hpg. Harmonic drive gear reducers were developed during the mid1950s and are used in many industrial and military applications. Understanding and modeling the behavior of a harmonic drive gear transmission. Understanding and modeling the behavior of a harmonic drive. Because of the temperature dependency of the harmonic drive gear, the experiment scanned the speed range 0. Electrondart is also the exclusive distributer of harmonic drive ag a gear technology leader in the field of high precision drive technology, harmonic drive ag is constantlydeveloping sophisticated and tailored solutions for their customers. The hdr is commonly used in heavy service load applications where. Catalogue harmonic drive ag pdf catalogs technical. Harmonic drive is the brand name of strain wave gear trademarked by the harmonic drive company, and invented in 1957 by c. The model takes account of nonlinear changes in stiffness, as well as damping.
Harmonic gear drives have advantages that other drives do not, such as simpler structure. Hdr heavy duty precision low backlash harmonic gear drive the hda is a low backlash, heavyduty pancake type harmonic gear component set. A wide variety of harmonic drive gear options are available to you, such as harmonic, bevel miter, and cycloidal. Life l 10 was increased from 7,000 hrs to 10,000 hrs. Available in eight sizes with gear ratios between 30 and 160. Each desired speed was allowed to settle into the steadystate motion and then averages of all input torque and output speed values were calculated. Harmonic planetary gears consist of a number of gear wheels arranged around a central gear. Meshed perpendicular to the axis of rotation, the worm gear offers a compact solution and a large singlestage gear reduction can be achieved, however the larger ratios suffer from low efficiency.
These pinions engage with an internally toothed ring gear, which is supported by a very stiff axialradial needle roller bearing. Harmonic drive units consist of a gear component set, equipped with a high capacity output bearing, which are intended for integration into a machine. Harmonic drive gear revolution harmonic drive precision gear continues to evolve by improving performance and functionality. Hfuc2uh series units are available in thirteen sizes with gear ratios of 30, 50, 80, 100, 120 and 160. The harmonic drive is a simple compact gear system for achieving. Documentation is provided for all products offered by harmonic drive ag and can be found in pdf format on the website. 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.
General introduction of harmonic drive product technique. Neither the authors nor the publisher can be held responsible for injuries sustained while following the procedures described. 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. Dynamic model of a harmonic drive in a toothed gear. A read is counted each time someone views a publication summary such as the title, abstract, and list of authors, clicks on a figure, or views or downloads the fulltext. They are acknowledged for excellent and reliable performance in handling systems of the semiconductor industry, measuring equipment. The harmonic drive gear belongs to the group of the strain wave gears. Harmonic drive gearing a free powerpoint ppt presentation displayed as a flash slide show on id. Send address changes to gear technology, the journal of gear manufacturing. Choosing a drive involves several design factors that depend greatly on the task at hand. True zero backlash precision gears units and gearheads are available in a variety of sizes, ratios and configurations including hollow shaft versions which allow cables or shafts to pass through the center of rotation. Offered in a variety of compact designs including hollow shaft configurations. Quickly filter through a wide range of gear ratios and torque ratings to find the best product.
The proposed model of a harmonic drive in the power transmission system is investigated in the matlabsimulink. Ac servo actuators fhac engineering data harmonic drive. Reduction ratio flex spline teeth circular spline teeth flex spline teeth for example, if there are 202 teeth on the circular spline and 200 on the flex spline, the reduction ratio is 200. Harmonic drive gear solutions harmonic gearing cone drive. Balance shaft and gear train modeling to capture gear rattle. It features a double bearing wave generator and heavy duty flexspline. All structured data from the file and property namespaces is available under the creative commons cc0 license. Consult harmonic drive ags entire catalogue catalogue on directindustry.
The harmonic drive is a compact, inline gear reducer capable of producing reduction ratios of up to 320. The gt gear train model proved to be a quick, simple tool to accurately predict the stabilizing torque required to eliminate gear rattle in the secondorder balancer gear train the gt model is flexible enough such that future enhancements can be added to obtain more accurate results. General introduction of harmonic drive product technique hanzhen harmonic drive classification of drive technique. If you are unable to view an active 3d pdf image, please use the button below to download the 3d pdf file and view with adobe reader. To meet the needs of customers from abroad, the subsidiary of leaderdrive suzhou leader harmonic drive co. A nonlinear model for harmonic drive friction and compliance.
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