Harmonic Drive CHA - Calculation of the Torsion Angle

68 1018854 12/2015 V01
φ = Angle [rad]
T = Torque [Nm]
K = Stiffness [Nm/rad]
φ =
60 Nm - 29 Nm
11
.
10
4
Nm/rad
29 Nm
6,7
.
10
4
Nm/rad
+
φ = 7,15
.
10
-4
rad
φ = 2,5 arc min
180
.
60
�
φ [arc min] = φ [rad]
.
Example
T = 60 Nm K
1
= 6,7
.
10
4
Nm/rad
T
1
= 29 Nm K
2
= 1,1
.
10
5
Nm/rad
T
2
= 108 Nm K
3
= 1,2
.
10
5
Nm/rad
<
φ =
T - T
1
K
2
T
1
K
1
+
T
1
T
≤
T
2
<
T T
2
φ =
T
2
- T
1
K
2
T
1
K
1
T - T
2
K
3
+ +
4.2 Calculation of the Torsion Angle
T T
1
T
K
1
<
–
φ =
Equation 68.1
Equation 68.2
Equation 68.3
Equation 68.4