Pancake Gearing Components

Harmonic Drive Gearing

Harmonic Drive® precision strain wave gearing component sets are core motion control mechanisms.  These zero backlash products offer the widest design flexibility.  Products can be selected which offer the optimum dimension and performance based on the available volume within the customer-designed housing.  High Torque, Ultra Flat, and Hollow Shaft Options are available.  Customers can use these high accuracy gearing components as a core building block for custom high performance servo actuators and motion control mechanisms.  Customer-supplied servo motors can be easily integrated into the design.

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

Harmonic Drive Gearhead

Our family of Harmonic Drive® Pancake Gearing Components includes:

Ultra Flat Gearing Components

CSD Series - In our new Harmonic Drive® CSD Series gearing, which inherits the excellent performance characteristics of the CSF series, weight and configuration compactness have been taken to new levels. Harmonic Drive® CSD series gearing are offered in a series of five different component sizes, opening up new possibilities for motion control speed reducers.  Features include:

  • Thickness has been reduced to 1/4 size of CSF Series
  • Compact and simple design
  • Hollow through bore
  • Zero-backlash
  • Extremely high positioning accuracy

Pancake Style Gearing Components

FB Series - The FB Series component type has pursued flatness and thinness.  It consists of four parts and operates using the same principle as the cup type of the CSG/CSF series.  The Flexspline of the pancake type is shaped like the Flexspline of the cup type with a cut bottom and is structured to have an additional Circular Spline with the same number of teeth as the Flexspline.  Features include:

  • Flat shape type
  • High positioning and rotational accuracies
  • Low axial width
  • Easily adapted to customer supplied assembly
  • FB series is single uses a single wage generator

FR Series - The FR Series range has been developed to meet the trend towards flatter gear sets while retaining the many advantages of Harmonic Drive® precision strain wave gearing.   It consists of four parts like the FB series and operates using the same principle as the cup type.  It is basically structured in the same way as the FB series and supports high torque capacity by arranging the wave generator bearings in two lines and widening the tooth width of the Circular Spline and the Flexspline.  Features include:

  • Maximum reduction ratio in minimum space
  • Low backlash
  • Simple installation and maintenance
  • FR is a heavy duty version of the FB
  • FR uses a double wave generator bearing

FD Series (Differential Gear) - The differential gear FD series is an extremely compact differential unit that allows you to fine-tune the phase and timing during operation by applying the unique operating principle of strain wave gearing.  The FD series is available in two configurations; a component set or a unit type.  The FD component set consists of four parts like the pancake-type component and must be integrated into the machine design.  The Unit type provided with the housing so that additional gears or pulleys required for the machine can be directly mounted onto it.   Model HDB provides 1:1 Differential.  Features include:

  • Component set differentials are easily installed into OEM equipment
  • Component sets consists of only four parts and is mounted coaxially
  • Backlash is very small and the unit requires no assembly adjustment at all, which helps reduce the assembly cost significantly
  • Very large reduction ratios between the adjusting shaft and the output, it allows precision position adjustment and requires little torque for adjusting the shaft

Cup Style Gearing Components

CSG-2A-GR Series (High Torque Capacity) - Harmonic Drive® CSG Series gearing components, an improved version of the CSF series, are for high torque operation.   Based on the development concepts of upgrading load capacity, strength reliability and extending service life, CSG series components have been further improved in respect to the following performance capabilities as compared to CSF series counterparts of the same size.  Features include:

  • Rated torque improved 30%
  • Repeated Peak torque improved 30%
  • Max. momentary torque improved 30%
  • Ratcheting torque improved 30%
  • Rated service life extended 42% (to 10,000 hours)
  • In respect to external dimensions, rigidity, angle transmission accuracy, input moment of inertia, etc., CSG series components are the same as their CSF series counterparts

CSF-2A-GR Series - Having evolved further, our component type gear has re-emerged in a more compact and easier-to-install configuration.   Component Type Harmonic Drive® CSF series gearing has been developed to meet the needs of the industry as they concern space saving, cost efficiency and other performance characteristics at a time when demand for such features is increasing in tandem with the accelerated pace of technological innovation.  The Harmonic Drive® CSF Series gearing offered here can be directly integrated into your machinery/equipment.  With the addition of a 1/30 reduction ratio series, our gear has made its debut in an even richer line-up so you can select the unit that is most suitable for your needs.  Features include:

  • Compact and simple configuration
  • High torque capacity
  • High rigidity
  • Backlash-free
  • High positional accuracy and high rotational accuracy
  • High efficiency
  • Smoothness of operation
  • Coaxial input and output

Hollow Shaft Gearing Components

SHG-2A-GR Series (High Torque Capacity) - Harmonic Drive® SHG series gearing components, an improved version of the SHF series, are for high torque operation.  Based on the development concepts of up grading load capacity, strength reliability and extending service life, SHG series components have been further improved in respect to the following performance capabilities as compared to SHF series counterparts of the same size.  Features include:

  • Rated torque improved 30%
  • Repeated peak torque improved 30%
  • Max. Momentary torque improved 30%
  • Ratcheting torque improved 30%
  • Rated service life extended 42%(to 10,000 hours)
  • In respect to external dimensions, rigidity, angle transmission accuracy, input moment of inertia, etc., SHG series components are the same as their SHF series counterparts

SHF-2A-GR Series - Harmonic Drive® SHF series gearing components are designed for direct integration into machinery and equipment.  Made up of just three simple components, these Harmonic Drive® SHF series gearing components enhance further the latitude of design.   With respect to "output vs. mass ratio", one of the indicators of a speed reducer's performance capability, Harmonic Drive® SHF series components have attained world-leading levels.  Features include: 

  • Simple and compact configuration
  • High torque capacity
  • High rigidity
  • Backlash-free
  • High positional accuracy and high rotational accuracy
  • High efficiency
  • Smoothness of operation
  • Coaxial input and output
  • Available in component and gearheads types: Outer diameter: 50 to 330mm for all 14 models; Speed reduction ratio: 1/50 to 1/160; Rated torque: 5.4 to 745Nm

Harmonic Drive Gearing Selection Chart

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