As in all gears, the gear ratio of the Harmonic Drive is the ratio of the input speed
to the output speed. If the number of teeth on the flexspline is N
f
, then for every
revolution of the input shaft, the output shaft rotates by 2/N
f
of a revolution (that
is, two teeth out of N
f
teeth). Hence:
HD gear ratio =
1
2
N
f
=
N
f
2
The Harmonic Drive gear ratio for axis 1 and axis 2 of the
SCORA-ER 14
is 160:1
Figure 6-10: Operation of the Harmonic Drive
Figure 6-9: Operation of the Harmonic Drive
User’s Manual
6 - 7
SCORA-ER 14
9603
Summary of Contents for SCORA-ER 14
Page 1: ...SCORA ER 14 User Manual Catalog 100067 Rev B...
Page 2: ......
Page 4: ......
Page 36: ...SCORA ER 14 6 12 User s Manual 9603...
Page 56: ......
