Harmonic Drive® Gears

Whether enclosed in a housing, employed as an actuator with motor and encoder, or as components in customer-specified configurations with specific materials or design elements, the flexibility of strain wave gears makes them suitable for a wide range of applications. However, there is one aspect, in particular, that has remained constant for decades, and this is the principle by which the Harmonic Drive® Strain Wave Gear functions. In addition to the proven strain wave gear technology, some Series are also available in Triangle Technology. Setting new standards in torsional stiffness, transmission accuracy and dynamics. 

Strain Wave Gear Technology  Triangle Technology

Harmonic Drive ® Strain Wave Gear Technology

The Harmonic Drive® Strain Wave Gear is made up of three basic components. These are first the Wave Generator, an elliptical steel disc that forms the heart of the gear unit, which has a centric hub and a special thin, elliptically deformable ball bearing. The Wave Generator is also connected to the motor shaft. Secondly, the Wave Generator is inserted into the Flexspline – a flexible cylinder with teeth cut around its outer circumference. The Circular Spline surrounds both the Wave Generator and the Flexspline as a rigid solid steel ring with internally cut teeth. What is significant is the number of teeth – the outer toothing of the Flexspline has fewer teeth than the inner toothing of the circular spline. The difference in number is frequently two. 

The central features and advantages of the strain wave gear compared to other, more conventional types of gear unit, are primarily due to the combination of its simple construction and the unique principle of elastic deformation found in steel gear wheels. Harmonic Drive® Gears display absolute backlash free performance throughout their service life and maintain a high level of torsional rigidity over the whole torque range. 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. Owing to their high reduction ratios and the fact that they consist of three basic components and have a coaxial orientation, strain wave gears can be easily integrated into existing applications. 

Features of the Harmonic Drive® Strain Wave Gear

High reduction ratios in a single stage 

With only three components, reduction ratios of 30:1 to 160:1 are achieved in a single stage. In customer-specific solutions, reduction ratios of up to 400:1 have already been realised. The high gear ratio enables the use of small electric motors. 

Central Hollow Shaft 

Harmonic Drive® Gears offer the option of a central hollow shaft. Cables, shafts, laser beams, etc. can be easily guided through the hollow shaft. 

Zero backlash 

Due to the permanent preload, Harmonic Drive® Gears have no backlash in the teeth over their entire lifetime. There is no backlash of the teeth when the load is reversed. 


Highest torque capacity and low weight 

Since power is transmitted over a large tooth engagement area, Harmonic Drive® Gears can transmit higher torques than conventional gears. This enables compact dimensions and low weight of the drive system. 

Highest Precision 

Harmonic Drive® Gears have an excellent positioning accuracy of less than one minute of arc and a repeatability of only a few seconds of arc. 

 

Robustness and durability 

Harmonic Drive® Gears are maintenance free and highly reliable over their entire lifetime. The gear's overload capacity also makes it robust against shock loads. 

Strain Wave Gear explained

Whether on the seabed, in production halls or in the vastness of the universe: Harmonic Drive® gearboxes and actuators withstand the most diverse environmental conditions - including yours. The basis of their success is special properties which are combined by our Strain Wave Gear Principle and thus formed into an efficient unit.

Find out more about the Strain Wave Gear Principle in the video.

Harmonic Drive® Triangle Technology

Triangle Technology is based on a revolutionary advancement of the proven Harmonic Drive® Strain Wave Gear Principle. The rounded triangular shape of the Wave Generator creates three tooth engagement areas between the Flexspline with external teeth and the Circular Spline with internal teeth. 

Rotation of the Wave Generator causes permanent circumferential tooth engagement of the Flexspline and Circular Spline. Since the Flexspline has three teeth fewer than the Circular Spline, rotation of the Wave Generator causes relative movement of the Flexspline to the Circular Spline. 

Brochure Triangle Technology

Compared to Harmonic Drive® Gears with an elliptical Wave Generator, the three tooth engagement areas of the Triangle Technology result in higher torsional stiffness under load. 

 

The Triangle Technology sets new standards in torsional stiffness, transmission accuracy and dynamics. This enables a new level of precision and acceleration. 

Features of Harmonic Drive® Triangle Technology

Higher torsional stiffness 

The three tooth engagement areas of the Triangle Technology result in significantly increased torsional stiffness of at least 40%. This considerably reduces the load-related twisting of the gear. For milling machines, for example, higher feed rates can be achieved with the same surface quality. 

Exceptional transmission accuracy 

Triangle Technology achieves exceptionally precise transmission accuracy of < 0.5 minutes of arc. This enables highly precise applications even without the use of an output-side encoder system. 

Lower vibration susceptibility 

The higher torsional stiffness of the gear results in a lower vibration tendency of the drive system. This enables highly dynamic motion cycles and a reduction in the cycle time of your system. 

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