H D U F G e a r i n g

Total Motion Control

Precision Gearing & Motion Control

Contents
Compact, High Ratio, In-Line Gearing ............................. 2
The Basic Component Set ................................................ 2
Configuration ..................................................................... 3
Typical Installation ............................................................. 3
Ordering Information ......................................................... 3
Dimensions ........................................................................ 4
Performance Ratings ........................................................ 5
Lubrication ......................................................................... 6
Installation ......................................................................... 6
Efficiency ........................................................................... 7
No-Load Running Torque, Starting Torque,
and Back Driving Torque ................................................... 7

Compact, High Ratio, In-Line Gearing

Harmonic Drive HDUF “Pancake” type component set offers the designer high ratio, in-line mechanical power
transmissions in extremely compact configurations. The component set consists of four elements: the Wave
generator, an elliptical bearing assembly; the Flexspline, a non-rigid ring with external teeth; and the Circular
Spline and the Dynamic Spline, rigid internal gears.

Rotation of the Wave Generator imparts a rotating elliptical shape to the Flexspline causing progressive
engagement of its external teeth with the internal teeth of the Circular Spline and the Dynamic Spline.
The fixed Circular Spline has two more teeth than the Flexspline, thereby imparting relative rotation to the
Flexspline at a reduction ratio corresponding to the difference in the number of teeth. With the same number
of teeth, the Dynamic Spline rotates with and at the same speed as the Flexspline.

The Basic Component Set

1) The Wave generator (WG) is a thin raced bearings
assembly fitted onto an elliptical plug, and normally
is the rotating input member.

2) The Flexspline (FS) is a non-rigid ring with external

teeth on a slightly smaller pitch diameter than the
Circular Spline. It is fitted over and is elastically
{

deflected by the Wave Generator.

3) The Circular Spline (CS) is a rigid ring with internal
teeth, engaging the teeth of the Flexspline across
{

the major axis of the Wave Generator.

4) The Dynamic Spline (DS) is a rigid ring having
{

internal teeth of same number as the Flexspline. It

rotates together with the Flexspline and serves as
the output member. It is identified by chamfered
corners at its outside diameter.

2
Configurations
1) Reduction Gearing 2) Reduction Gearing
WG Input WG Input
CS Fixed CS Output
DS Output DS Fixed
Ratio as listed 1
Ratio
Input and output in opposite R+1
Input direction. Input Input and output in same direction.
Output Output

3) Reduction Gearing 4) Differential

WG Fixed WG Control Input
CS Output CS Main-drive Input
DS Input DS Main-drive Output
R Numerous differential functions can
Ratio be obtained by combinations of
R+1
speeds and rotations on the three
Input and output in same direction. shafts.
Output Input Output Input

Typical Installation
HDUF “pancake” type component sets are easier to use than conventional gearing. All that is required is suitable
bearing support for the input and output shaft, and a means of fixing the circular spline against rotation.

The simplicity of HDUF component sets is demonstrated in the typical arrangements shown below.

1. Wave Generator
2. Flexspline
3. Circular Spline
4. Dynamic Spline
5. Motor
6. Input Shaft or Motor Shaft
7. Output Shaft

Ordering Information
Pancake model with the single row bearing Wave Generator

Size 20

Reduction ratio 80:1

HDUF 20-80-2G-BL3-SP
Component set

Backlash optimized to below 3 arc minutes (Optional)

Suffix indicating that the set is specially modified or designed

according to customer requirements.
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Dimensions

A I J Wt
HDUF B C D E F1 F1 G H K L M N X Y
(g7) (H7) Max (JS9) lb kgf
14 50 -0.009
-0.034 5 0.5 10.5 15.0 3.75 0.75 44 M3 6 +0.012
0 8 — — 29 14 — 0.2 1.0 0.2 0.1
20 70 -0.010
-0.040 6 0.5 12.5 11.4 0.95 2.05 60 M4 9 +0.015
0 12 3±0.0125 10.4 42 20 — 0.2 1.0 0.2 1.0
25 85 -0.012
-0.047 8 0.5 16.5 12.8 0.35 3.35 75 M5 14 +0.018
0 15 5±0.0150 16.3 53 26 0.9 0.2 1.5 1.1 0.5
-0.012 +0.018
32 110 -0.047 10 0.5 20.5 15.6 0.95 3.95 100 M6 14 0 15 5±0.0150 16.3 69 26 0.8 0.2 1.5 2.2 1.0
40 135 -0.014
-0.054 13 1 27.0 19.4 1.80 5.80 120 M8 14 +0.018
0 20 5±0.0150 16.3 84 32 1.2 0.4 2.0 4.0 1.8
-0.014 +0.021
50 170 -0.054 16 1 33.0 23.2 2.90 6.90 150 M10 19 0 20 6±0.0150 21.8 105 32 1.1 0.4 2.0 6.4 2.9

Maximum housing I.D. for Flexspline axial containment is L. The surface hardness in the region where the
Flexspline abuts the housing is recommended to be HRC 29–34.

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Performance Ratings
Torque Rating***
Max.** Output
Input speed, rpm
HDUF Ratio Torque
4000 3500 3000 2500 2000 1000 500
Nm lb-in Nm lb-in Nm lb-in Nm lb-in Nm lb-in Nm lb-in Nm lb-in Nm lb-in
88 3.8 34 4.0 35 4.2 37 4.5 40 5 42 6.2 55 7.7 68 12 104
14 100 4.6 40 4.8 42 5.1 45 5.4 48 6 52 7.3 65 9.3 82 15 130
110 4.6 40 4.8 42 5.1 45 5.4 48 6 52 7.3 65 9.3 82 15 130
80 14 120 14 120 15 130 16 147 20 180 20 180 26 230
100 17 156 18 156 20 174 21 190 24 210 24 210 34 300
20
128 20 174 20 174 21 190 23 210 24 210 24 210 43 380
160 20 174 20 174 21 190 23 210 24 210 24 210 50 440
80 26* 230* 26 230 28 250 28 250 29 350 39 350 51 450
100 29* 256* 33 295 36 320 36 320 49 430 52 460 68 600
25
120 29* 256* 33 295 36 320 36 320 49 430 61 540 80 710
160 29* 256* 33 295 36 320 36 320 49 430 61 540 86 760
78 58* 513* 58* 513* 58 510 63 550 75 670 75 670 98 870
100 59* 522* 59* 522* 75 670 82 730 98 870 98 870 127 1130
32
131 59* 522* 59* 522* 75 670 82 730 98 870 117 1040 186 1650
157 59* 522* 59* 522* 75 670 82 870 98 870 117 1040 215 1910
80 117* 1040* 117* 1040* 117* 1040* 117 1040 147 1300 147 1300 196 1940
100 127* 1125* 127* 1125* 127* 1125* 157 1390 186 1650 186 1650 255 2250
40
128 127* 1125* 127* 1125* 127* 1125* 166 1470 206 1820 235 2080 314 2880
160 127* 1125* 127* 1125* 127* 1125* 166 1470 206 1820 274 2430 353 3120
80 215* 1900* 215* 1900* 215* 1900* 215 1900 265 2340 265 2340 353 3120
100 245* 2170* 245* 2170* 245* 2170* 284 2520 353 3120 353 3120 460 4080
50
120 245* 2170* 245* 2170* 245* 2170* 304 2690 382 3380 421 3730 559 4950
160 245* 2170* 245* 2170* 245* 2170* 304 2690 382 3380 480 4250 666 5900

Max. Input Moment of

Backlash arc min.****
Speed, rpm Inertia J
HDUF
Oil Grease
kg-cm2 lb-in2 Optimized Non-Opt.
Lub SK-1

14 6000 3600 0.033 0.011 3 32

20 6000 3600 0.14 0.048 3 32

25 5000 3600 0.36 0.12 3 30

32 4500 3600 1.3 0.44 3 24

40 4500 3300 3.4 1.2 3 24

50 3500 3000 9.9 3.4 3 23

* Thermal limited–50% duty cycle with on time not exceeding 15 minutes.

** This torque is not to be exceeded under any circumstances.
*** Rating at input speed below 500 rpm is same as for 500 rpm.
**** Backlash measured at output with the input locked, maximum value.

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Lubrication
Oil lubrication ratings are based on Molub Alloy gear For retention of grease within the tooth mesh area
Oil No. 80. See table for recommended oil level and and the ball bearing, it is recommended that the
volume for horizontal shaft mounting. L dimension (see HDUF Dimensions, page 4) be
extended further inward to at least S.
For vertical mounting the recommended level is at the
wave generator bearing ball centerline or midpoint of
the drive.
HDUF 14 20 25 32 40 50
Oil Level Below Drive Centerline mm 7.6 12.7 15.2 17.8 23.0 30.5
cc 50 50 100 150 250 500
Minimum Oil Volume
fl-oz 1.5 1.5 3 5 8 16

Grease lubricated ratings are based on Harmonic

Grease HC-1, which has been specially developed mm
for Harmonic Drive lubrication. Alternate lubricants
HDUF 14 20 25 32 40 50
include Molub Alloy Grease No. 2, Shell Alvania EP 1
S 26 38 48 63 76 95
and their equivalents.

Installation
The Dynamic Spline is distinguished by its chamfered outer edge. HDUF Component Sets may be operated in
any attitude. Recommended installed relationships are shown below:

Housing Tolerance
mm
HDUF a b c d e f g h
14 0.013 0.015 0.016 0.013 0.015 0.016 0.011 0.007
20 0.017 0.016 0.020 0.017 0.016 0.020 0.013 0.010
25 0.024 0.016 0.029 0.024 0.016 0.029 0.016 0.012
32 0.026 0.017 0.031 0.026 0.017 0.031 0.016 0.012
40 0.026 0.019 0.031 0.026 0.019 0.031 0.017 0.012
50 0.028 0.024 0.034 0.028 0.024 0.034 0.021 0.015

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Efficiency
Efficiency varies depending on input speed, ratio, load level, temperature, and type of lubrication. The effects
of these factors are illustrated in the curves shown below.

HDUF Efficiency vs. Ratio, Temperature, and Lubricant (At Rated Torque)

Input Speed 500 rpm Input Speed 3400 rpm

Input Speed 1700 rpm

No-Load Running Torque, Starting Torque, and Backdriving Torque

HDUF 14 20 25 32 40 50

NL Running Torque Ncm 3~8 5~11 6~30 15~40 20~65 60~150

@ 1500 rpm oz-in 4~11 7~15 8~42 20~56 28~90 83~210
Ncm 0.5~3 0.8~4 2~7 3~10 5~30 10~60
Starting Torque
oz-in 0.7~4 1~6 3~10 4~14 7~42 14~83
Nm 0.8~7 2~10 3~38 4~40 8~60 20~110
Backdriving Torque
lb-in 6~60 17~87 26~330 35~350 70~520 170~950

Values quoted are based on actual tests with the component sets assembled in housings, and takes into
consideration friction resistance of oils seals, and churning of oil.

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Harmonic Drive LLC
Boston
247 Lynnfield Street
Peabody, MA 01960

New York
89 Cabot Court
Hauppauge, NY 11788

800-921-3332
F: 978-532-9406
www.HarmonicDrive.net

Worldwide Locations:
Harmonic Drive Systems, Inc.
Minamiohi 6-25-3, Shinagawa-ku
Tokyo 140, Japan

Harmonic Drive AG
Hoenbergstr, 14
Limburg/Lahn, D-65555 Germany

HDUR_rev_04-06
HDUF_rev_04-06
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