SHF and SHG - Harmonic Drive LLC

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DRIVING CONFIGURATIONSA variety of different driving configurations are possible, as shown below.The reduction ratio given in the tables on page 10 and 11 correspond to arrangement 1, in which the Wave Generatoracts as the input element, the Circular Spline is fixed and the Flexspline acts as the output element.1 2 3InputOutputFSCSWGGear Ratio =input speedoutput speed1. Reduction GearingCS FixedWG InputFS OutputRatio = R [Equation 1]-1Input and output in oppositedirection.1. Reduction GearingCS FixedWG InputFS OutputRatio = R+1 [Equation 2]1Input and output in oppositedirection.1. Reduction GearingCS FixedWG InputFS OutputRatio = R+1 [Equation 3]RInput and output in oppositedirection.4 5 6 71. Reduction GearingCS FixedWG InputFS OutputRatio = RR+1[Equation 4]Input and output in oppositedirection.1. Reduction GearingCS FixedWG InputFS OutputRatio = -R [Equation 5]1Input and output in oppositedirection.1. Reduction GearingCS FixedWG InputFS OutputRatio = R+1 [Equation 6]-1Input and output in oppositedirection.1. Differential GearingWG Control InputCS Main Drive-InputFS Main Drive-OutputNumerous differential functions canbe obtained by combinations of thespeed and rotational direction ofthe three basic elements.6
APPLICATION EXAMPLESSHF Series Application ExamplesApply SHF-2UH & SHF-2UJ to SCARA robotThe robot arm (Fig.1) is equipped with SHF-2UH and SHF-2UJ Series units.The hollow shaft of the first axis unit is used to pilot the shaft driving thesecond axis unit.This allows both motors to be mounted in the base ofthe robot, minimizing the moment of inertia of the arm.SHF-2UHSHF-2UJSecond Axis MotorFirst Axis MotorHarmonic Drive LLC 800-921-33327
Page 2: 2SHF AND SHG HOUSED UNIT
Page 5: PRINCIPLE AND STRUCTURESystem Compo
Page 9 and 10: APPLICATION EXAMPLESSHF Series Appl
Page 11 and 12: SHF SERIES RATING TABLETable 2Size
Page 13 and 14: TECHNICAL TERMSSHF Ratcheting Torqu
Page 15 and 16: SELECTION PROCEDUREValues of an eac
Page 17: EXTERNAL DIMENSIONSTable 7BGH 114 1
Page 20 and 21: LUBRICATIONGrease ChangeThe wear ch
Page 22 and 23: LUBRICATIONExample of Oil Channelin
Page 24 and 25: DIAMETERSHole Diameter of Wave gene
Page 26 and 27: INSTALLATION PROCEDUREInstallation
Page 28 and 29: UNIT 2UH EXTERNAL DIMENSIONSHollow
Page 30: UNIT 2SO DIMENSIONSSimple Unit Type
Page 33 and 34: EXTERNAL DIMENSIONSTable 26(mm)14 1
Page 35 and 36: OUTPUT BEARING RATINGHow to Calcula
Page 37 and 38: RECOMMENDED TOLERANCES FOR ASSEMBLY
Page 39 and 40: LUBRICATIONLubricationThe standard
Page 41 and 42: PERFORMANCE DATAPerformance Data fo
Page 43 and 44: EFFICIENCYEfficiency Compensation C
Page 45 and 46: EFFICIENCYUnit Type Hollow Shaft Ty
Page 47 and 48: ENGINEERING DATAEfficiency Compensa
Page 49 and 50: NO LOAD RUNNING TORQUECompensation
Page 51 and 52: PRINCIPLE AND STRUCTURECompensation
Page 53 and 54: PRINCIPLE AND STRUCTURECompensation
Page 55 and 56: POSITIONING ACCURACYPositioning Acc
Page 57 and 58:
TORSIONAL STIFFNESSTorsional Stiffn
Page 59:
Harmonic Drive LLCBoston247 Lynnfie
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SHF and SHG - Harmonic Drive LLC

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