Harmonic Drive
SCARA-Robot Elbow Axis
Integrated output bearing
Special Circular Spline
As already mentioned in an earlier example, the low weight and high precision of Harmonic Drive gears are ideal for applications in SCARA robots. The high accuracy and high dynamic performance are also pre-requisites for demanding assembly tasks.
The HFUC-2UH unit enables a particularly compact and elegant design as shown in this design example. The Circular Spline is located in the upper arm segment and acts as fixed element. The Circular Spline has a special design to make integration into the robot joint easier.
The Wave Generator features an Oldham coupling to compensate for run-out error of the motor shaft. The Flexspline acts as output element and drives the lower arm segment via the flange of the output bearing.
