Harmonic Drive
Stereotactic Manipulator Rotary Axis
Precision output bearing
Hollow-shaft
Medical equipment is the scene for many interesting new applications for Harmonic Drive technology. A particularly demanding application is in the rotary axes of a stereotactic manipulator used for brain surgery. The manipulator is a six-axis robotic arm that supports the operating microscope used by the surgeon.
As the operation progresses the microscope superimposes computer data on the actual view of the operating area, acting as a "head-up display" to guide the surgeon through the operation. Each axis features HDGM-B precision gearbox. This design example shows a special hollow-shaft design. A shaft connected to the output flange passes back through the gearbox to a high-resolution encoder. This direct output measurement system is used for reasons of safety. The Wave Generator is driven via a toothed belt and the motor is mounted in parallel to the gearbox.
This basic design is also used in other application areas, such as precision machine tools or measuring machines, where exceptionally high absolute positioning accuracy is required.
