Harmonic Drive CHA - Accuracy; Torsional Stiffness

50 1018854 12/2015 V01
Table 50.1
Table 50.3
Table 50.4
Table 50.2
3.3.4 Accuracy
3.3.5 Torsional Stiness
Symbol
[Unit]
CHA-14A CHA-17A CHA-20A CHA-25A
Ratio i [ ] 30 50 > 50 30 50 > 50 30 50 > 50 30 50 > 50
Transmission accuracy [arcmin] < 2 < 1.2 < 1 < 2 < 1.2 < 1 < 1.5 < 1 < 0.8 < 1.5 < 1 < 0.8
Repeatability [arcmin] < ± 0.1 < ± 0.1 < ± 0.1 < ± 0.1
Hysteresis loss [arcmin] < 3 < 1 < 1 < 3 < 1 < 1 < 3 < 1 < 1 < 3 < 1 < 1
Lost Motion [arcmin] < 1 < 1 < 1 < 1
Symbol
[Unit]
CHA-32A CHA-40A CHA-50A CHA-58A
Ratio i [ ] 30 50 > 50 50 > 50 50 > 50 50 > 50
Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 0.7 < 0.5 < 0.7 < 0.5 < 0.7 < 0.5
Repeatability [arcmin] < ± 0.1 < ± 0.1 < ± 0.1 < ± 0.1
Hysteresis loss [arcmin] < 3 < 1 < 1 < 1 < 1 < 1 < 1 < 1 < 1
Lost Motion [arcmin] < 1 < 1 < 1 < 1
Symbol [Unit] CHA-14A CHA-17A CHA-20A CHA-25A
T1 [Nm] 2 3.9 7 14
T2 [Nm] 6.9 12 25 48
Ratio i [ ] 30 50 >50 30 50 >50 30 50 >50 30 50 >50
K3 [x10
3
Nm/rad] 3.4 5.7 7.1 6.7 13 16 11 23 29 21 44 57
K2 [x10
3
Nm/rad] 2.4 4.7 6.1 4.4 11 14 7.1 18 25 13 34 50
K1 [x10
3
Nm/rad] 1.9 3.4 4.7 3.4 8.1 10 5.7 13 16 10 25 31
Symbol [Unit] CHA-32A CHA-40A CHA-50A CHA-58A
T1 [Nm] 29 54 108 168
T2 [Nm] 108 196 382 598
Ratio i [ ] 30 50 >50 30 50 >50 50 >50 50 >50
K3 [x10
3
Nm/rad] 49 98 120 - 180 230 340 440 540 710
K2 [x10
3
Nm/rad] 30 78 110 - 140 200 280 400 440 610
K1 [x10
3
Nm/rad] 24 54 67 - 100 130 200 250 310 400