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4.1 Selecting Harmonic Drive® Gears
When choosing a gear, both torque as well as stiffness requirements should be take into account. In robot applications, for
example, the necessary torque is the more crucial factor for the gear size, while the torsional stiffness is often decisive in
machine tool applications. We therefore recommend that you always take both criteria into account according to the following
procedures.
Gear preselection
Application
Gear size
sufficient?
Gear size
sufficient?
Selection of a
bigger size
Yes
Yes
No
No
Selection of a
bigger size
End of gear
selection
Torque based dimensioning
according to selection
procedure on page 19
Stiffness based dimensioning
according to selection
procedure on page 22