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Micro Harmonic Drive — Technical data

 

IH-tooth profile

The data provided below are based on model sizes MHD-8 and MHD-10 with standard IH-tooth profile. Because we specialise in the development of customer or application specific micro actuators, the data presented below are representative values which may vary in individual cases.

 

 

Definitions

 

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MHD-8

MHD-10

Reduction ratio

 

160:1

 

500:1

160:1

 

500:1

 

1000:1

Rated torque

mNm

3

8

5

13

20

Repeated peak torque

mNm

6

16

10

26

40

Momentary peak torque

mNm

20

40

23

64

100

Friction torque
     (version for motor)

µNm

30

35

50

45

40

Friction torque

     (version with input shaft)

µNm

70

75

90

85

80

Efficiency for rated operation

     (version for motor)

%

63

74

76

80

82

Efficiency for rated operation

     (version with input shaft)

%

42

57

53

67

70

Rated input speed

rpm

10000

10000

10000

10000

10000

Maximum input speed

rpm

30000

30000

30000

30000

30000

Output shaft

                 
 

Max. radial load (static)

N

15

15

20

20

20

 

Max. radial load (dynamic)

N

3

3

5

5

5

 

Max. axial load

N

10

10

10

10

10

Input shaft

           
 

Max. radial load (static)

N

5

5

5.5

5.5

5.5

 

Max. axial load

N

10

10

10

10

10

Moment of inertia

           
 

Version for motor

gcm²

7×10-4

8×10-4

23×10-4

22×10-4

18×10-4
 

Version with input shaft

gcm²

38×10-4

38×10-4

60×10-4

59×10-4

55×10-4

Weight

           
 

Version for motor

g

2.2

2.2

4.5

4.5

4.5

 

Version with input shaft

g

3.5

3.5

5.7

5.7

5.7

Repeatability

arcsec

±10

±10

Torsional stiffness

Nm/rad

2.29

 

1.51

8.25

 

3.23

 

2.00
                   

 

 

 

P-tooth profile

The data provided below are based on model sizes MHD-8 and MHD-10 with standard P-tooth profile. Because we specialise in the development of customer or application specific micro drives, the data presented below are representative values which may vary in individual cases.

 

 

MHD-8

MHD-10

Reduction ratio

 

160:1

 

500:1

120:1

 

160:1

 

500:1

 

1000:1

Rated torque

 

mNm

7

10

15

12

18

24

Repeated peak torque

 

mNm

14

20

29

24

36

48

Momentary peak torque

 

mNm

32

46

73

55

82

110

Friction torque
     (version for motor)

 

µNm

30

35

60

50

45

40

Friction torque

     (version with input shaft)

 

µNm

70

75

100

90

85

80

Efficiency for rated operation

     (version for motor)

 

%

63

74

72

76

80

82

Efficiency for rated operation

     (version with input shaft)

 

%

42

57

54

53

67

70

Rated input speed

 

rpm

10000

10000

10000

10000

10000

10000

Maximum input speed

 

rpm

30000

30000

30000

30000

30000

30000

Output shaft

             

Max. radial load (static)

 

N

15

15

20

20

20

20

 

Max. radial load (dynamic)

 

N

3

3

5

5

5

5

 

Max. axial load

 

N

10

10

10

10

10

10

Input shaft

             
 

Max. radial load (static)

 

N

5

5

5.5

5.5

5.5

5.5

 

Max. axial load

 

N

10

10

10

10

10

10

Moment of inertia

             
 

Version for motor

 

gcm²

7×10-4

8×10-4

25×10-4

23×10-4

22×10-4

18×10 -4

 

Version with input shaft

 

gcm²

38×10-4

38×10-4

61×10-4

60×10-4

59×10-4

55×10 -4

Weight

             
 

Version for motor

 

g

2.2

2.2

4.5

4.5

4.5

4.5

 

Version with input shaft

 

g

3.5

3.5

5.7

5.7

5.7

5.7

Repeatability

 

arcsec

 

 ±10

±10

Torsional stiffness

 

Nm/rad

4.35

 

2.86

2.77

 

9.30

 

6.13

 

3.80