Torque Based Dimensioning - Harmonic Drive HFUS-2A Series Engineering Data

4.1.1 Torque Based Dimensioning

Output Data
Torques
during the load phases
during the pause time
and output speeds
Emergency stop/momentary peak torque
at output speed
and duration
Equation 19.2
Equation 19.3
Values for T
Equation 19.4
Calculation of the average output speed
n
out av =
Equation 19.6
Permissible maximum input speed
n = n · i ≤ Maximum input speed (see rating table)
in max out max
Equation 19.8
Load limit 2, T
R
T ≤ T
max R
Equation 19.11
Values for L see table 21.1
n
1019658 11/2014
T ...T [Nm]
1 n
t ...t [s]
1 n
t [s]
p
n ...n [rpm]
1 n
T [Nm]
k
n [rpm]
k
t [s]
k
Calculation of the average output torque T
|n · T | · t
3 3
1 1
T =
av
|n | · t
1
see rating tables
A
T ≤ T
av A
|n |· t + |n | · t + ... + |n | · t
1 1 2 2 n n
t + t + ... + t + t
1 2 n p
Equation 19.9
Load limit 3, T
T
k
* · Rated input speed ·
L = L
50 n
n
Illustration 19.1
n
1
t
1
T
1
Load limit 1,
av
+|n · T | · t + ... + |n · T | · t
3 3
n n n
1 2 2 2
+|n | · t + ... + |n | · t
n n
1 2 2
No
Equation 19.5
Equation 19.7
Equation 19.10
M
≤ T
M
Operating life
( )
Rated torque T
3
N
T
in av av
n
2
n n
1
3
n
p
t t
t t
2 p
3 1
T
1
T
2
T
3
Time
Selection of a bigger size
Average input speed
n = i · n
in av out av
Permissible average input speed
n ≤ Limit for average input speed
in av
(see rating table)
Allowable number of momentary peak torques
4
10
N =
n
k max
2· ·i·t
k
k
60
Time
< 10 4
19