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4. Actuator Selection
A variety of different driving arrangements are possible with Harmonic Drive® Gears.
Equation 27.1
Input speed
Ratio i =
Output speed
Overview Harmonic Drive® Products
The three main components of the Harmonic Drive® Units, Circular Spline (CS), Flexspline (FS) and Wave Generator (WG) can
be seen in the illustration 27.2.
Illustration 27.2
WG (—2SO)
WG (—2SH/2UH)
The values for ratios of Harmonic Drive® Gears refer to the standard drive arrangement (example 1 in the table below). Other
arrangements are possible, and also shown in the table.
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