Harmonic Drive

Product Development since 2000

2002 Low backlash operation for the duration – revolutionary HPG series planetary gear

The outstanding feature of the new HPG series precision planetary gears is the flexible ring-gear. This is a consequent application of Harmonic Drive’s engineering and manufacturing know-how. By using a flexible ring-gear the planetary gears achieve a backlash of < 3 minutes of arc without requiring an additional backlash adjustment mechanism. For sizes 20 and 32 the backlash can be reduced to less than one minute of arc.

Until now highly accurate gear components and/or an additional adjustment mechanism were necessary to minimize backlash. Tight gear engagement for conventional planetary gears leads to torque ripple and a worsening of noise and wear characteristics. To avoid this problem the new HPG series features a flexible internally toothed ring-gear, thereby exploiting many years of Harmonic Drive experience with thin-walled components. The flexible ring-gear enables low backlash operation over whole operating life of the gear – a unique feature. This new range offers reduction ratios from 5:1 to 33:1 and acceleration torque of up to 300 Nm.

2002 CSD Series - Super Flat Component Sets

In the early 90s Harmonic Drive introduced the HFUC series and succeeded in reducing the axial length of the flexspline by 40 %. Compared with the former HDUC series a weight reduction of nearly 20 % could additionally be achieved. Despite the strengthened coning of the cup leading to higher stresses in the flexspline cup, the design engineers of Harmonic Drive achieved better output characteristics compared with the former gears with longer flexspline cup. The key feature of the new CSD Series Harmonic Drive Component Set is an axial length reduction by nearly 50 % compared to the current HFUC Series. This enables the design of particularly compact positioning drives and indexing tables.

2002 CSG Series Super Harmonic Drive - Units and Component Sets

The dimensions of this newly developed gear series are identical to those of the established HFUC units. Additionally the new Super Harmonic Drive gear offers a rated torque, which is 30 % higher, compared to the HFUC. Furthermore, the repeated peak torque and the allowable momentary peak torque are about 30 % higher for the new CSG gears. The Harmonic Drive engineers have succeeded in increasing the rated operating life by 40 %. This enables an improvement of the rated L10 lifetime from 7500 h to approx. 10000 h.

2002 FHA-C Series AC hollow shaft actuators

2003 - New FHA-AS series servo actuator system with integrated Ferraris sensor

Converting rotational speeds and torques is one of the basic functions of reduction gears. Toothed gear components can cause errors in the transmission of rotational movements and torque. In case of precision gears these transmission errors are far lower and often not noticeable. But there can still be disturbing effects in applications where highest accuracy is required.

As a new option Harmonic Drive AG now offers the well established FHA-AC hollow shaft actuators combined with an output side acceleration sensor using the Ferraris principle. In conjunction with a specially developed driver even the most extreme requirements with respect to smoothness of motion and transmission accuracy can be satisfied.

2004 Super compact FHA-C mini Series AC Hollow shaft Servo Actuator

Due to the optimal integration of the Harmonic Drive gear, a synchronous motor and a TTL-encoder Harmonic Drive AG succeeded in developing a super compact AC hollow shaft actuator. This new highly integrated mechatronic solution makes the use of an innovative motor concept based on a highly dynamic synchronous motor with concentrated winding. Different operating voltages for the motor winding make the system compatible to all common servo controllers available on the market.

2005 Compact CHA Series Hollow shaft Servo Actuator

Harmonic Drive AG introduces the new CHA Series Servo Actuators which are a further improvement of the proven FHA Hollow shaft servo actuators. The new CHA actuator uses a motor with high pole numbers to realize an extremely compact and axially short actuator. To support the output side load a highly precise and stiff output bearing is integrated. Corrosion-protected surfaces allow the use even in difficult environments. HIPERFACE® or SIEMENS compatible encoder systems permit the connection to many commonly available servo controllers.

2005 Compact Precision Unit CPU

The CPU product family is based on a modular design principle. The basic product is a combination of Harmonic Drive HFUC gear component set and a large pre-loaded backlash-free output bearing, which simultaneously acts as the gear housing. By modification of some mounting parts totally three series Units and additionally the CHA hollow shaft actuator may be generated.

The three different CPU Series Units are designed for direct mounting on any servo motor, as Unit with input shaft or hollow shaft Unit. They are distinguished by improved gear transmission accuracy up to 50 %, high capacity output bearing, best run-out tolerances, corrosion protection, Viton shaft seals and flexible assembly options.

2006 Compact Hollow Shaft Servo Motors CHM

Many years of experience with drive technologies combined
with the ever increasing need to adapt to changing market situations has also led Harmonic Drive to increased specialization. In addition to the further developments of our harmonic drive gears, we have expanded our core competencies to include design, development and manufacture of custom servo motors. A major focus is the development and manufacture of hollow shaft motors for special environments, such as cleanroom applications for handling and coating systems.

2007 Planetary Gears Series HPG extended

To satisfy the market requirements for smaller and more accurate systems, Harmonic Drive released the size 11 HPG precision planetary gearbox - the world's smallest precision planetary gearbox. The HPG series is characterised by its unique flexible ring gear, which minimises backlash in the gear train.

2007 Harmonic Drive Mini Gearboxes Series CSF

The CSF-Mini series with the sizes 3, 5, 8, 11 and 14 was extended to include a miniaturised four point ball bearing for the output flange. The new CSF series offers higher torque capacity with increased torsional stiffness. The size 3 CSF-Mini gearbox is the smallest Harmonic Drive gearbox yet developed with outside dimensions of just 13 x 13 mm and a torque capacity of 0.2 Nm. Applications for this gearbox have immediately been found in medical systems as well as for finger joints in special gripper systems for service robots.

These miniature gearboxes are also available as compact servo drives with an integrated motor (series RSF).

2008 Light Weight Component Set CPL

The development of the CPL series has resulted in a light weight component set with 40 % weight reduction compared to comparable series. This unique power to weight characteristic has led to the use of CPL components in service robotic applications as well as for general mechanical applications requiring ever lighter components. The use of these components leads directly to improved energy efficiency for robots, machines and systems.

2008 Extremely compact Hollow Shaft Servo Motors CHM

Increased production and development possibilities resulted in the release of an improved CHM hollow shaft servo motor series. A newly developed sealing concept and standardised mechanical interface increased the attractiveness of this series in addition to the existing compact design, excellent linear torque constant, large hollow shaft and excellent corrosion protection. This has led to many applications in demanding environments.

2009 AC Servo Actuators LynxDrive

Mid-2009 the newly developed LynxDrive was launched to the market. The se sinus-commutated brushless AC servo motors have been especially constructed to fit perfectly with Harmonic Drive gear units and are produced with state of the art concentrated windings. The drives have a very compact design with a high torque capacity and are available with different motor feedback systems to suit a wide variety of customer requirements and controllers. These mid-range drives are manufactured completely in Limburg.

2009 AC Servo Actuators and mini-RSF and RSF Supermini

The RSF-Mini and RSF-Supermini series servo actuators combine the CSF-Mini series gearboxes perfectly with highly dynamic and smooth running AC motors. The resulting product properties are better than those reached using conventional transmission technologies. This series complements perfectly the new LynxDrive series for applications where smaller, compacter drives are required.