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Harmonic Drive CHA - Page 70

Harmonic Drive CHA
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70 1018854 12/2015 V01
with:
F
rav
[N] = Radial force
F
aav
[N] = Axial force
d
p
[m] = Pitch circle
x = Radial load factor (Table 70.4)
y = Axial load factor (Table 70.4)
M = Tilting moment
Dynamic equivalent load
Please note:
F
rx
represents the maximum radial force.
F
ax
represents the maximum axial force.
t
p
represents the pause time between cycles.
Load factors x y
1 0.45
0.67 0.67
F
rav
+ 2 · M / dp
≤ 1,5
F
aav
F
rav
+ 2 · M / dp
> 1,5
F
aav
Illustration 70.5 Illustration 70.6
Equation 70.1
Equation 70.2
Equation 70.3
Table 70.4
P
C
= x
.
F
rav
+ + y
.
F
aav
2M
dp
(
)
F
rav
=
|
n
1
|
.
t
1
.
(
|
F
r1
|
)
B
+
|
n
2
|
.
t
2
.
(
|
F
r2
|
)
B
+ ... +
|
n
n
|
.
t
n
.
(
|
F
rn
|
)
B
|
n
1
|
.
t
1
+
|
n
2
|
.
t
2
+ ... +
|
n
n
|
.
t
n
(
)
1/B
F
aav
=
(
)
1/B
|
n
1
|
.
t
1
.
(
|
F
a1
|
)
B
+
|
n
2
|
.
t
2
.
(
|
F
a
2
|
)
B
+ ... +
|
n
n
|
.
t
n
.
(
|
F
an
|
)
B
|
n
1
|
.
t
1
+
|
n
2
|
.
t
2
+ ... +
|
n
n
|
.
t
n

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