What Is Harmonic Drive Motor

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What are the benefits of harmonic drives?

Compared to classical toothed gears, harmonic drives have numerous advantages, but there are some disadvantages as well. Their main advantages include: high torque capacity, excellent positioning accuracy and repeatability, compact design, zero backlash, high single-stage reduction ratios and high torsion stiffness.

Are harmonic drives back drivable?

Back Driving – Harmonic Drive® gears are reversible and can be back driven. If necessary, loads can be held in place by braking the Wave Generator when the servo system is not powered.

What is Harmonic Drive actuator?

Harmonic Drive® Servo Actuators are a combination of highly dynamic compact servo motors, precision gears and integral tilt resistant high load capacity output bearings.

Why are harmonic drives used in robotics?

A large number of industrial robots use harmonic drives, especially FANUC and Motoman, due to increased precision and repeatability, no backlash and high torque capacity.

How do harmonic gears work?

Strain wave gearing (also known as harmonic gearing) is a type of mechanical gear system that uses a flexible spline with external teeth, which is deformed by a rotating elliptical plug to engage with the internal gear teeth of an outer spline.

How do you calculate the gear ratio on a harmonic drive?

Ratio calculation of Harmonic drive second stage I = F.S./(C.S. – F.S.). I = 60 / (62 – 60) I = 60 / 2 I = 30 Second stage reduction 30:1. Total reduction ratio (i) of harmonic drive.

What is backlash in gear?

Backlash refers to the angle that the output shaft of a gearhead can rotate without the input shaft moving. Backlash arises due to tolerance in manufacturing; the gear teeth need some play to avoid jamming when they mesh.

What are gear drives?

Gear drives are packaged units used for a wide range of power-transmission applications. They are used to transmit power to a driven piece of machinery and to change or modify the power that is transmitted.

What is a robotic gearbox?

Robot gearboxes are part of the joints in robot arms. The joints ensure manoeuvrability while the gearboxes determine the speed and direction of movement. They are the link between the motor that supplies the drive energy and a machine component that has the task of executing a planned movement.

What happens if backlash is to tight?

If the backlash is too tight, move the carrier away from the pinion by adjusting the carrier shim. If the backlash is too wide, adjust the carrier toward the pinion. When adjusting the backlash, a rule of thumb is 10 thousandths of carrier shim adjustment will result in around 7 thou of backlash adjustment.

Is zero backlash possible?

There are several ways in which it is possible to provide a gearbox with zero backlash, thus enabling high precision motion control.

Which bearing is used in gearbox?

Gearbox bearing design is typically driven by shaft speed. Low-speed shafts normally use fixed profile journal bearings, often with simple cylindrical bores. High-speed shafts have historically used multi-lobe fixed profile bearings, but are increasingly using tilting pad journal bearings.

What is torque ratio?

A gear train can be analyzed using the principle of virtual work to show that its torque ratio, which is the ratio of its output torque to its input torque, is equal to the gear ratio, or speed ratio, of the gear train.

What are types of gears?

Spur Gear. Gears having cylindrical pitch surfaces are called cylindrical gears. Helical Gear. Helical gears are used with parallel shafts similar to spur gears and are cylindrical gears with winding tooth lines. Gear Rack. Bevel Gear. Spiral Bevel Gear. Screw Gear. Miter Gear. Worm Gear.

What is difference between gear and gear drive?

Instead, gears are machine elements used to transmit rotary motion between two shafts, normally with a constant ratio. The pinion is the smallest gear and the larger gear is called the gear wheel. Requires less space compared to belt drive. Requires more space compared to gear drive.

How do gears increase speed?

Increase speed: If you connect two gears together and the first one has more teeth than the second one (generally that means it’s a bigger-sized wheel), the second one has to turn round much faster to keep up. So this arrangement means the second wheel turns faster than the first one but with less force.

What is the best type of automatic transmission?

A CVT transmission is possibly the best to drive in the city. Because it has an infinite amount of gear ratios, the TCU of a CVT keeps the engine in its sweet spot making this transmission one of the most efficient. With that, as there are no physical gears to change, these are smooth.

What is Tiptronic gearbox?

What is a Tiptronic transmission? A Tiptronic transmission is basically a regular automatic transmission where the driver is able to move out of “automatic mode” and use paddle shifters to shift up or down like a manual transmission.

Can cars be both automatic and manual?

An AMT functions in the same way as older semi-automatic and clutchless manual transmissions, but with two exceptions; it is able to both operate the clutch and shift automatically, and does not use a torque converter.

How can I improve my backlash?

Use shims to move the ring gear closer to the pinion to decrease backlash. Use shims to move the ring gear farther from the pinion gear to increase backlash. Use shims to move the pinion closer to the ring gear to move the drive the pattern deeper on the tooth (flank contact) and slightly toward the toe.

How do you reduce backlash?

The simplest and most common way to reduce backlash in a pair of gears is to shorten the distance between their centers. This moves the gears into a tighter mesh with low or even zero clearance between teeth. It eliminates the effect of variations in center distance, tooth dimensions, and bearing eccentricities.

What is normal backlash?

(2) Normal Backlash ( j n ) The minimum distance between each meshed tooth flank in a pair of gears, when it is set so the tooth surfaces are in contact. (3) Angular Backlash ( j θ) The maximum angle that allows the gear to move when the other mating gear is held stationary.

What are the methods to avoid interference?

Transmit in different places. Two transmitters can use the same frequency at the same time if they are separated. Transmit at different frequencies. Two transmitters can cover the same area and transmit at the same time if they use different frequencies. Transmit at different times.

What is law of gearing?

The law of gearing states that common normal must always pass through the pitch point at the point of contact between a pair of teeth and the angular velocity ratio of all gears must remain constant throughout the gear mesh.

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