Harmonic Drive
6-Axis Robot Shoulder Axis
Low inertia Wave Generator
Special Circular Spline
The primary axes of 6-axis robots must be capable of providing high peak torques during the acceleration and braking phases of a movement cycle. The primary axis gears must also exhibit high repeatability and high positioning accuracy to enable the robot to execute precise assembly tasks or accurate path following applications, such as arc welding or application of adhesive.
These requirements are fulfilled completely by Harmonic Drive gears. In this design example the HFUC component set features a special low inertia Wave Generator design. This design reduces the acceleration torque required from the motor. Another interesting feature of this design is the arrangement of the input shaft and output flange, which are both on the same side of the gear.
The input shaft passes throught the output flange, which is supported by a cross-roller bearing. The special Circular Spline design simplifies the integration of the gear into the housing of the joint.
