Calculation Of The Torsion Angle - Harmonic Drive CSD-2A Component Sets Engineering Data

4.2 Calculation of the Torsion Angle

Calculation of the Torsion Angle φ at Torque T:
Equation 23.1
T < – T
1
T
φ =
K
1
φ = Angle [rad]
T = Torque [Nm]
K = Stiffness [Nm/rad]
Example: HFUC-32-100-2UH
T = 60 Nm
T = 29 Nm
1
T = 108 Nm
2
1019659 11/2014
Equation 23.2
= 6.7 . 10
K Nm/rad
4
1
= 1.1 . 10
K Nm/rad
5
2
= 1.2 . 10
K 5 Nm/rad
3
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 arc min
Equation 23.4
φ [arc min] = φ [rad] .
Equation 23.3
T T
2
T T - T T - T
φ = 1 2 1
+ +
K K K
1 2
29 Nm 60 Nm - 29 Nm
+
11 . 10
4 Nm/rad 4 Nm/rad
-4 rad
180 . 60
�
2
3
23