Harmonic Drive SHG Series, Manual

Page: 22 / 69

22
1021387 12/2018 V02
Table 22.1
Table 22.2
Table 22.3
Symbol
[Unit]
SHG-14 SHG-17 SHG-20
Limit torque
T
1
[Nm] 2 3.9 7
T
2
[Nm]
6.9 12 25
Ratio i [ ]
50 ≥ 80 50 ≥ 80 50 ≥ 80
Torsional Stiffness
K
3
[· 10 3 Nm/rad] 5.7 7.1 13 16 23 29
K
2
[· 10
3
Nm/rad] 4.7 6.1 11 14 18 25
K
1
[· 10
3
Nm/rad] 3.4 4.7 8.1 10 13 16
Symbol
[Unit]
SHG-25 SHG-32 SHG-40
Limit torque
T
1
[Nm] 14 29 54
T
2
[Nm]
48 108 196
Ratio i [ ]
50 ≥ 80 50 ≥ 80 50 ≥ 80
Torsional Stiffness
K
3
[· 10 3 Nm/rad] 44 57 98 120 180 230
K
2
[· 10
3
Nm/rad] 34 50 78 110 140 200
K
1
[·10
3
Nm/rad] 25 31 54 67 100 130
Symbol
[Unit]
SHG-45 SHG-50 SHG-58 SHG-65
Limit torque
T
1
[Nm] 76 108 168 235
T
2
[Nm]
275 382 598 843
Ratio i [ ]
50 ≥ 80 ≥ 80 ≥ 80 ≥ 80
Torsional Stiffness
K
3
[· 10 3 Nm/rad] 260 330 440 710 980
K
2
[· 10
3
Nm/rad] 200 290 400 610 880
K
1
[·10
3
Nm/rad] 150 180 250 400 540
3.3.5 Torsional Stiffness