Harmonic Drive Gearing Systems


Harmonic Drive Gearhead

Harmonic Drive® Gearboxes

Harmonic Drive® Gearboxes feature precision strain wave gearing which provides zero backlash, high torque, compact size, and excellent positional accuracy. Harmonic Drive® gearing is made up of three parts:

  • Circular Spline - a solid, thick walled ring with internal teeth.
  • Flexspline - a thin walled, flexible steel cylinder with external teeth machined on the outside. It is slightly smaller than the circular spline. The number of teeth on the flexspline is less than the number of teeth on the circular spline (generally 1 to 2 fewer teeth).
  • Wave Generator - is an elliptical cam enclosed in a bearing assembly.

View a 3 minute YouTube video on the operation of Harmonic Drive Gearing:  Harmonic Drive Gearing YouTube Video

Precision Harmonic Drive® gearing products are available with gear ratios from 3:1 to 45:1 with backlash maintained below 1 arc-min.  High capacity output bearings are utilized for robust and accurate support of loads.   Other benefits include flange and shaft output configurations, hollow shaft designs, and sizes ranging from 0.625 inches to over 10 inches in diameter.   These gearheads can be easily adapted to any OEM servo motor.  Our family of Harmonic Drive® Gearheads includes:

Harmonic Drive Gearhead

Housed Quick Connect Gearheads View More

HPF Series (Hollow Shaft Planetary Gearheads) - The HPF Precision Hollow Shaft Planetary Gear was designed based on the HPG Harmonic Planetary® gearhead.  The large coaxial hollow shaft allows cables, shafts, ball screws or lasers to pass directly through the axis of rotation.  The HPF also incorporates a large output flange for mounting the driven load.  This flange is integrated with a robust Cross-Roller Bearing which can support high axial, radial and moment loads without the need for additional support bearings.

HPG Series (Inline Planetary Gearheads) - The Harmonic Planetary gearhead features an innovative Flex Ring Gear that automatically adjusts for backlash, ensuring consistent, low backlash for the life of the gearhead.   As compared to other planetary designs, where gear wear increases backlash over time, the Harmonic Planetary maintains the same low backlash for the life of the gearhead. The design engineer is ensured of consistently low backlash, without the annoying backlash creep of other designs.

HPN Series - HPN Harmonic Planetary® value series provides a low cost solution without the need to compromise on quality or performance.  The HPN Series features helical gears for High –Torque, quiet performance and long life.  Backlash of <5 arc minutes (for single stage) is maintained for the life of the gear.  Large radial ball bearings support the output shaft for high load capacity. HPN Harmonic Planetary® gears are available with a smooth output shaft or a shaft with a key and tapped center hole.  The HPN gearheads are available with short lead times and are designed to couple to any servo motor with our Quick Connect™ coupling.

CSG-GH Series - Zero-Backlash CSG-GH Harmonic Drive® gearheads deliver 30% higher torque than our standard (CSF-GH) gearhead with 42% longer life while maintaining the same and high accuracy and repeatability.  The CSG-GH Series utilizes our proprietary S tooth profile for unrivaled performance.  The Quick Connect® coupling design allows easy mounting of any servo motor.

CSF-GH Series - Zero-backlash CSF-GH Harmonic Drive® gearheads are available with reduction ratios, 50:1 to 160:1.  The CSF-GH utilizes our proprietary S tooth profile to provide high torque and high accuracy.  The Quick Connect® coupling design allows easy mounting of any servo motor.

HPG-RA Series (Right Angle Gearheads) - High Precision Planetary gear with Right Angle form enables user to use in the limited space.

HPGP Series (High Torque Inline Planetary Gearheads) - Harmonic Drive® now offers a NEW high-torque planetary gearhead based upon our high precision HPG Harmonic Drive® Planetary® gears.  The HPGP series achieves 33% higher torque while maintaining high precision through use of our innovative ring-gear technology and high moment stiffness through use of an integral cross-roller output bearing.  The HPGP series achieves longer life and can allow smaller gearheads to be used in your system.  View a 2minute YouTube video on the operation of the HPGP Gearhead: HPGP YouTube Video .

HPG-U1 Series - The HPG Harmonic Planetary® gearhead has the same high performance specifications as our standard HPG series but with an input shaft for shaft couplings or for use with motor offset with a belt drive.  Same as the HPG, this gearhead incorporates continuous backlash compensation that ensures low backlash throughout the life of the gear.  The large Cross Roller bearing serves as the output flange and can support large loads with high moment stiffness.  HPG planetary gears are available with a flange output, smooth output shaft or a shaft with a key and tapped center hole.

HPG-R Series - The HPG-R Helical Harmonic Planetary® gearhead delivers High-Torque and High-Accuracy in a compact package.  The Helical gear design combines quiet operation with higher torque when compared to the standard HPG Series. The gearhead incorporates continuous backlash compensation that ensures low backlash throughout the life of the gear.  A large Cross Roller bearing serves as the output flange and can directly support large loads with high moment stiffness. HPG planetary gears are available with a flange output, smooth output shaft or a shaft with a key and tapped center hole.

Hollow Shaft Gearheads View More

SHG-2UH Series (Hollow Shaft Gearheads) - The SHG-2UH series is a compact hollow shaft gearhead which has zero backlash as well as exceptional accuracy and repeatability.  The gearhead incorporates a Harmonic Drive® gear component into an integral housing.  In addition to the hollow shaft, the gearhead also features a high capacity cross roller bearing and output flange to mount the load without the need for additional support bearings.  For optional input shaft versions, see Series SHG-2UJ.

SHF-2UH Series (Hollow Shaft Gearheads) - The SHF-2UH series is a compact hollow shaft gearhead which has zero backlash as well as exceptional accuracy and repeatability.  The gearhead incorporates a Harmonic Drive® gear component into an integral housing. In addition to the hollow shaft, the gearhead also features a high capacity cross roller bearing and output flange to mount the load without the need for additional support bearings.  For optional input shaft versions, see Series SHF-2UJ.

SHD-2UH-LW Series (Hollow Shaft Gearheads) - The SHD-2UH-LW series was designed to be the most compact, lowest weight, hollow shaft precision gear unit available in the market today.  Based on the proven reliability of our SHD component sets, this gear unit has zero backlash, exceptional position accuracy and repeatability.  The gearhead incorporates a Harmonic Drive® gear component into aluminum housing.  The gearhead also features a high capacity cross roller bearing and a flanged output to mount the moving load without the need for additional support bearings.  The ample hollow shaft allows cables, shafts or pipes to pass directly through the axis of rotation.

SHF-2SH (Hollow Shaft Gearheads) - The SHF-2SH is a simplicity gear unit with a hollow input shaft.  It costs less than a full unit and features an incredibly flexible design.  SHF-2SH are available in nine sizes with ratios 30:1 to 160:1 and peak torque ranging 9-1840 Nm.

Compact Close Couple Style Gearheads View More

CSG-2UH Series - Harmonic Drive® CSG series gearheads are improved, high-torque versions of the CSF series.  Torque ratings, life and reliability are significantly improved compared to CSF series products of the same size.

CSF-2UH Series - The CSF-2UH series is a compact precision gearhead which has zero backlash as well as exceptional accuracy and repeatability. The gearhead incorporates a Harmonic Drive® gear component into an integral housing.  The gearhead also features a high capacity cross roller bearing and output flange to support the load.

CSF-2UP Mini Gearheads are ideally suited for small robots or equipment that require an ultra-compact solution. These new models are lightweight and extremely flat. Thanks to a cross roller bearing used at the output flange, the CSF-2UP gearheads offer high-moment stiffness.

CSF-2XH Series - This gearhead is designed to be coupled directly to a servomotor. The motor shaft is attached directly to the gearhead input element. The output of the gearhead is a shaft or flange.

CSF-1U-CC Series - This gearhead is designed to be coupled directly to a high performance small servomotor.  The output of the gearhead is a shaft.  For optional input shaft versions, see Series CSF-1U.

CSF-1U-CC-F Series - This gearhead is designed to be coupled directly to a high performance small servomotor.  The output of the gearhead is a flange.  For optional input shaft versions, see Series CSF-1U-F.

Ultra Flat CSD and SHD Series

CSD Series (Integrated Output Bearing) -  In the spotlight of the present media attention, the humanoid robot and aerospace field required ultimate “light weight" and the liquid crystal and semi-conductor manufacturing equipment demanded ultra “Thin Form” against the height restriction of the system line.  The CSD series, mastered light weight and compactness inherited the excellent performance of the Harmonic Drive® precision strain wave gear and have fulfilled the market demand and achieved bold form.

SHD Series (Integrated Output Bearing) - Harmonic Drive® SHD Series gearheads inherits the excellent performance of the SHF/SHG Series.  The SHD Series has pursued flatness to the minimum level of 17.5mm without losing high torque capabilities.   This is a simple unit type with a built-in high stiffness cross roller bearing on the output to cope with axial loads. It is best suited for applications that demand compact design.

Phase Adjust Gearheads View More

HDI's are shaft mounted gear reducers.  They provide hand adjustable, precise, static phase adjustment. On rotating shafts the HDI functions as rigid shaft coupling.  Phase adjustment is accomplished when the drive system is stopped.  Adjustments are made by hand in either direction by adjusting the knurled outer ring producing infinitely variable relative rotation of the hubs through a 100:1 reduction ratio. With the "D" hub fixed, rotation of the "S" hub is opposite to the direction of nut rotation.  With the "S" hub fixed, rotation at the "D" hub is in the same direction as nut rotation.  Infinit Indexers are available in 6 sizes and have torque ratings form 500-20,000 inch pounds.

Harmonic Drive Gearhead Selection Chart

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