Harmonic Drive FHA-Cmini Series, Manual

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2-4 Examining operating status
Selection guidelines
2-8
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Apx
Se
lec
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Load torque calculation
Calculate the load torque as follows:
Rotary motion
The rotary torque for the rotating mass W on
the ring of radius r from the center of rotation is
shown in the figure to the right.
T: Rotary torque (N·m)
μ : Friction coefficient
W: Mass (kg)
r: Average radius of friction side (m)
The right graph gives a calculation example
when the friction coefficient μ is assumed as 0.1
and the horizontal axis and vertical axis
represent mass and rotational radius of friction
side, respectively. The actuator toque shown in
the graph indicates 20% of the maximum
torque.
r × W × μ × 8 . 9 = T
1 10 30 0.3 3
10
100
300
30
Mass W (kg)
R
adi
us
r o
f f
ric
tion
si
de (
m
m
)
0.1 N·m
Example of rotary torque calculation (friction coefficient = 0.1)
FHA: shows 20% torque lines of maximum torque
0.7 N·m
1 N·m
10 N·m
2 N·m
5 N·m
3 N·m
0.5 N·m
0.3 N·m
0.2 N·m
FHA-8C-30
FHA-8C-50
FHA-8C-100
FHA-11C-30
FHA-11C-50
FHA-11C-100
FHA-14C-30
FHA-14C-50
FHA-14C-100
Radius: r
Mass: W
Friction: μ