Harmonic Drive CHA, Engineering Data

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68
1018854 12/2015 V01
φ
= Angle [rad]
T = Torque [Nm]
K = Stiffness [Nm/rad]
φ =
60 Nm - 29 Nm
11
. 10
4
Nm/rad
29 Nm
6,7
. 10
4
Nm/rad
+
φ
= 7,15 . 10
-4
rad
φ
= 2,5 arc min
180 . 60
�
φ
[arc min] =
φ
[rad] .
Example
T = 60 Nm K
1
= 6,7 . 10
4
Nm/rad
T
1
= 29 Nm K
2
= 1,1 . 10
5
Nm/rad
T
2
= 108 Nm K
3
= 1,2 . 10
5
Nm/rad
<
φ
=
T - T
1
K
2
T
1
K
1
+
T
1
T ≤T
2
<
T T
2
φ
=
T
2
- T
1
K
2
T
1
K
1
T - T
2
K
3
+ +
4.2 Calculation of the Torsion Angle
T T
1
T
K
1
<–
φ
=
Equation 68.1
Equation 68.2
Equation 68.3
Equation 68.4