Excellent Technology Clusters in a Wide Range of Industries
HarmonicDrive® products are unique wave motion gearings that play important roles in robots,
semiconductor manufacturing systems, factory automation equipment...
as well as in aerospace equipment that foster the dreams of humanity.
We offer a variety of mechanical electronic products that bring about high precision motion
control in optical measuring equipment, medical equipment, printing machines and other systems.
Our products offer many advantages in the fields of industrial and scientific technology.
Harmonic Drive Systems Inc. is making every effort to develop supportive technologies for the
21st century, thereby contributing to the advancement of global technology.
Features
High rotational and positioning accuracy, compact and light weight, high reduction ratio, high torque capacity,
non-backlash, high efficiency, silent operation
Structure
Driven by a unique operating principle applying metal elastodynamics and comprising only three basic parts (a wave generator, flexspline and a circular
spline), our HarmonicDrive wave motion gearing (registered trademark) excel with superb characteristics that are not found in other wave motion gearing
products.
HarmonicDrive® Structure of HarmonicDrive® Unit (Component Type)
Flexspline
The Flexspline is a non-rigid, thin cylindrical cup with external teeth, with a slightly smaller pitch diameter than the Circular Spline. The bottom of the Flexspline is called the diaphragm, and is usually mounted onto the output shaft.
Wave Generator
The Wave Generator is a thin raced ball bearing fitted onto an elliptical hub serving as a high
efficiency torque converter, and is generally mounted onto the input shaft.
Circular Spline
The Circular Spline is a rigid ring with internal teeth of the same size as the Flexspline, but the
Circular Spline has two more teeth than the Flexspline and is generally mounted onto the housing.
Operating Principle
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There are three main components. The Flexspline is bent into an elliptical shape by the Wave Generator; and the teeth of the
long axis of the ellipse engage with the Circular Spline, whereas the teeth of the short axis are completely separated. |
As the Circular Spline is fixed in place and Wave Generator (input) rotates in a clockwise direction, the Flexspline deforms elastically and the position where the gears mesh with the Circular Spline moves in turn. |
For each rotation of the Wave Generator, the Flexspline rotates backwards by only two teeth from its original position, or in other words in the reverse direction relative to the Wave Generator. This motion is generally retrieved as the output. |
Tooth behavior and engagement
Unlike the motion of ordinary gears, the unique tooth behavior (operating principle) of the
HarmonicDrive® makes non-backlash motion possible, as well as infinitesimal angular feeding
(one-pulse feeding) and high positioning accuracy. More than 30% of all teeth simultaneously
engage in two locations in 180° symmetry, allowing for high torque capability.
 SHA Series
AC Servo Motors/Hollow Shaft, Flat Type
The servo actuators in this series are comprised of HarmonicDrive® components for precise motion control and super flat AC servo motors.
Output shaft surface runout precision is considerably improved on the SHA series, SG type.
Meets high precision requirements for table pivoting drive or alignment adjustment mechanisms that require mechanical precision.
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 SHA Series
AC Servo Motors/Hollow Shaft, Flat Type
The servo actuators in this series are comprised of HarmonicDrive® components for precise motion control and super flat AC servo motors.
The body width is less than half of old models and has a large through hole in the center of the shaft through which electric cables, air pipes, and even laser beams can pass to simplify the entire structure of the machine and system.
Furthermore, this design allows you to select an output bearing, a reduction gear and motor winding to fit your needs and features numerous variations.
This series can be combined with dedicated HA-800 drivers that offer a compact and multifunctional design to accurately and precisely control the operations of the SHA Series.
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 FHA-C mini Series
AC Servo Motors/Compact Hollow Shaft, Flat Type
The servo actuators in this series are comprised of HarmonicDrive® components for precise motion control and super-flat AC servo motors.
The body width is less than half of old models and has a large through hole in the center of the shaft through which electric cables, air pipes, and even laser beams can pass to simplify the entire structure of the machine and system.
Dedicated compact and multifunctional drivers are used to accurately and precisely control the operations of the FHA-C mini Series.
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 FHA-C Series
AC Servo Motors/Hollow Shaft, Flat Type
The servo actuators in this series are comprised of HarmonicDrive® components for precise motion control and super-flat AC servo motors.
The body width is less than half of old models and has a large through hole in the center of the shaft through which electric cables, air pipes, and even laser beams can pass to simplify the entire structure of the machine and system.
Dedicated compact and multifunctional HA-800 drivers are used to accurately and precisely control the operations of the FHA-C Series.
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