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4.2 Calculation of the Torsion Angle
Calculation of the torsion angle φ at torque T:
Equation 35.1
< –
T
T
1
T
φ =
K
1
φ = Angle [rad]
T
= Limit torque 1 from section 3.3.5 [Nm]
1
T
= Limit torque 2 from section 3.3.5 [Nm]
2
K
= Torsional stiffness up to the limit torque T
1
K
= Torsional stiffness up to the limit torque T
2
K
= Torsional stiffness above the limit torque T
3
Example: HFUC-32-100-2UH
T = 60 Nm
T
= 29 Nm
1
T
= 108 Nm
2
4.3 Accuracy of the Oldham Coupling SHG-2SO
Information concerning the Oldham coupling can be found in section 5.7.2.
In the region of tooth engagement Harmonic Drive® Gears have no backlash. If an Oldham coupling is used for the compensa-
tion of eccentricity errors of the motor shaft, a small backlash in the range of a few arcsec can occur at the output shaft, as
listed in table 35.5.
Table 35.5
Ratio
Unit
SHG-14
50
[arcsec]
80
[arcsec]
100
[arcsec]
120
[arcsec]
160
[arcsec]
1021387
12/2018
V02
Equation 35.2
from section 3.3.5 [Nm/rad]
1
from section 3.3.5 [Nm/rad]
2
from section 3.3.5 [Nm/rad]
2
= 6.7 . 10
K
Nm/rad
4
1
= 1.1 . 10
K
Nm/rad
5
2
= 1.2 . 10
K
Nm/rad
5
3
SHG-17
SHG-20
36
20
17
23
13
11
18
10
9
–
8
8
–
–
6
T
<
T ≤ T
1
2
T
T - T
φ =
1
1
+
K
K
1
2
φ =
6.7 . 10
φ = 7.15 . 10
φ = 2.5 arcmin
Equation 35.4
φ [arcmin] = φ [rad] .
SHG-25
SHG-32
SHG-40
17
14
14
11
9
9
9
7
7
8
6
6
6
5
5
Equation 35.3
T
T
2
T
T
- T
T - T
1
2
1
φ =
+
+
K
K
K
1
2
29 Nm
60 Nm - 29 Nm
+
11 . 10
Nm/rad
Nm/rad
4
4
-4
rad
180 . 60
�
SHG-45
SHG-50
SHG-58
12
—
—
8
8
6
6
6
5
5
5
4
4
4
3
2
3
SHG-65
—
6
5
4
3
35
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