Harmonic Drive HFUS-2A Series - Default Chapter; Table of Contents

2 1019658 11/2014
Contents
1. General ................................................................................................................................................. 03
1.1 Description of Safety Alert Symbols ...................................................................................................................................04
1.2 Disclaimer and Copyright .....................................................................................................................................................04
2. Safety and Installation Instructions ................................................................................................... 05
2.1 Hazards .................................................................................................................................................................................05
2.2 Intended Purpose .................................................................................................................................................................06
2.3 Non Intended Purpose ..........................................................................................................................................................06
2.4 Declaration of Conformity .................................................................................................................................................... 07
3. Technical Description ........................................................................................................................... 08
3.1 Product Description ..............................................................................................................................................................08
3.2 Ordering Code .......................................................................................................................................................................09
3.3 Technical Data ........................................................................................................................................................................ 10
3.3.1 General Technical Data ...............................................................................................................................................10
3.3.2 Dimensions .................................................................................................................................................................. 11
3.3.3 Minimum Housing Clearance.....................................................................................................................................15
3.3.4 Accuracy ......................................................................................................................................................................15
3.3.5 Torsional Stiness .....................................................................................................................................................15
4. Actuator Selection Procedure .............................................................................................................. 16
4.1 Selecting Harmonic Drive® Gears .......................................................................................................................................... 18
4.1.1 Torque Based Dimensioning ...................................................................................................................................... 19
4.1.2 Life of the Wave Generator Bearing..........................................................................................................................21
4.1.3 Stiness Based Dimensioning ................................................................................................................................. 22
4.2 Calculation of the Torsion Angle .......................................................................................................................................... 24
4.3 Accuracy of the Oldham Coupling ........................................................................................................................................ 24
4.4 Eciency Versus Load ......................................................................................................................................................... 25
4.4.1 Eciency Calculations .............................................................................................................................................. 25
4.4.2 Eciency Tables........................................................................................................................................................ 26
4.5 No Load Starting-, Back Driving- and Running Torque ...................................................................................................... 29
4.5.1 No Load Running Torque .......................................................................................................................................... 29
4.5.2 No Load Starting Torque ........................................................................................................................................... 30
4.5.3 No Load Back Driving Torque .................................................................................................................................... 30
4.6 Lubrication .............................................................................................................................................................................31
4.6.1 Grease Lubrication .....................................................................................................................................................31
4.6.2 Oil Lubrication ........................................................................................................................................................... 33
4.7 Axial Forces at the Wave Generator .................................................................................................................................... 34
5. Installation and Operation ...................................................................................................................35
5.1 Transportation and Storage ................................................................................................................................................. 35
5.2 Gear Conditions at Delivery .................................................................................................................................................. 35
5.3 Assembly Instructions .......................................................................................................................................................... 36
5.4 Recommended Tolerances for Assembly ............................................................................................................................40
5.5 Wave Generator Components ...............................................................................................................................................41
5.6 Bore Diameter for Solid Wave Generators ...........................................................................................................................41
5.7 Lubrication ............................................................................................................................................................................ 42
5.7.1 Grease Lubrication .................................................................................................................................................... 42
5.7.2 Grease Reser voir .......................................................................................................................................................44
5.7.3 Grease Change ...........................................................................................................................................................44
5.7.4 Gears with Oil Lubrication ........................................................................................................................................ 45
5.7.5 Lubrication Holes ......................................................................................................................................................46
5.8 Preparation for Assembly .................................................................................................................................................... 46