Harmonic Drive Gear Ratios
As in all gears, the gear ratio of the Harmonic Drive is the ratio of the input speed
to the output speed. If the number of teeth on the flexspline is N
f
, then for every
revolution of the input shaft, the output shaft rotates by 2/N
f
of a revolution (that
is, two teeth out of N
f
teeth). Hence:
HD gear ratio =
1
2
N
f
=
N
f
2
The Harmonic Drive gear ratios for each of the SCORBOT-ER IX axes are as
follows:
Axis 1 — 161:1
Axis 2 — 160:1
Axis 3 — 160:1
Axis 4 — 100:1
Axis 5 — 100:1
Figure 6-7: Operation of the Harmonic Drive
Figure 6-8: Operation of the Harmonic Drive
SCORBOT-ER IX 6 - 6 User’s Manual
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