Harmonic Gearhead - Servodynamics

Description

Gear Model Number

CSD-32-100-2UH

Gear Performance Data
Rated Torque L10	96	Nm
Limit for Average Torque	151	Nm
Limit for Repeated Peak Torque	233	Nm
Limit for Momentary Peak Torque	420	Nm
Starting Torque	18	Ncm
Backdriving Torque	21	Nm
Ave. Input Speed	3,500	rpm
Standard Accuracy	1	arc min
Mass	2.4	kg

Torsional Stiffness
T1	29	Nm
K1	6.1	10^4 Nm / rad
T2	108	Nm
K2	7.8	10^4 Nm / rad
K3	11	10^4 Nm / rad

Output Bearing
Pitch Circle Diameter (dp)	0.08	m
Offset (R)	0.01	m
Basic Dynamic Rated Load (C)	150	10^2 N
Basic Static Rated Load (Co)	250	10^2 N
Allowable Moment Load (Mc)	313	Nm
Moment Stiffness (Km)	53.9	10^4 Nm / rad

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