Stiffness Based Dimensioning - Harmonic Drive CSD-2A Component Sets Engineering Data

4.1.3 Stiffness Based Dimensioning

In addition to the "Selection Procedure: Torque Based Dimensioning" on page 18, we recommend that you carry out a
selection based on stiffness. For this, the values provided in table 21.1 for the individual resonance frequencies recommended
for each application should be taken into account.
Table 21.1
Application
Slowly rotating turntables, base axes of slow moving welding robots (not laser welding), slowly rotating welding and
swinging tables, gantry robot axes
Base axes of revolute robots, hand axes of revolute robots with low requirements regarding dynamic perfomance,
tool revolvers, tool magazines, swivelling and positioning axes in medical and measuring devices
Standard applications in general mechanical engineering, tilting axes, palette changers, highly dynamic tool changers,
-revolvers and -magazines, hand axes of revolute robots, scara robots, gantry robots, polishing robots, dynamic welding
manipuators, base axes of welding robots (laser welding), swivelling and positioning axes of medical equipment
B/C axes in 5 axis grinding machines, hand axes of welding robots (laser welding), milling heads for plastics machining
C axes in turning machines, milling heads for light metal machining, milling heads for woodworking (chipboards etc.)
Milling heads for woodworking (hardwood etc.)
C axes in turning machines*
Milling heads for metal machining*, B axes in turning milling centers for metal machining
Milling heads for metal machining*, B axes in turning milling centers for metal machining with high requirements
regarding surface quality*
Milling heads for metal machining with very high requirements regarding surface quality*
* Depending on the application, a secondary gear stage may be useful. Please contact Harmonic Drive AG for more information.
1019659 11/2014
[Hz]
f
n
≥ 4
≥ 8
≥ 15
≥ 20
≥ 25
≥ 30
≥ 35
≥ 40
≥ 50
≥ 60
21