Harmonic Drive LynxDrive 14C, Manual

Page: 52 / 72

42
1018856 08/2018 V04
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 arcmin
180 . 60
�
φ
[arcmin] =
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
φ
=
T
2
- T
1
K
2
T
1
K
1
T - T
2
K
3
+ +
7.2 Calculation of the Torsion Angle
T ≤ T
1
T
K
1
φ
=
Equation 42.1
Equation 42.2
Equation 42.3
Equation 42.4
T > T
2