Axial Forces At The Wave Generator - Harmonic Drive HFUS-2A Series Engineering Data

4.7 Axial Forces at the Wave Generator

When a Harmonic Drive® Gear is used as a speed reducer (torque input via Wave Generator), the deflection of the Flexspline
leads to an axial force acting on the Wave Generator. This axial force acts in the direction of the Flexspline diaphragm.
When the Harmonic Drive® Component Set is used as a speed accelerating gear (reverse operation, e. g. when braking), the
axial force acts in the opposite direction. In any case the axial force must be absorbed by the input shaft (motor shaft).
The Wave Generator thus needs to be fixed on the input shaft in the axial direction. In closed Harmonic Drive® Units
and gearboxes the axial force is absorbed internally.
Illustration 34.1
Table 34.2
Ratio
30
50
80...160
with:
F = Axial force [N]
AX
D = (Size) · 0.00254 [m]
T = Torque at the output [Nm]
µ = 0.07 Coefficient of friction
2µPF = Additional force (only CSD) [N]
Example
Size 32 (CSD-32-50)
Output torque = 300 Nm
Coefficient of friction µ = 0.07
200 Nm
F = 2 · (32 · 0.00254) m · 0.07 · tan 30°+16
AX
F = 215 N
AX
Table 34.6
Sizes
2µPF [N] for CSD and SHD
34
Speed reducer
T _
F = 2 · · µ · tan 32°
AX
D
T _
F = 2 · · µ · tan 30° + 2µPF
AX
D
T _
F = 2 · · µ · tan 20° + 2µPF
AX
D
14 17
2.1 4.1
Reverse
operation
20 25
5.6 9.8
[Equation 34.3]
[Equation 34.4]
[Equation 34.5]
32 40
16 24
1019658
50
39
11/2014