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Model No: SHF / SHD / CSF / CSD

Harmonic Drive

Hansheng's Harmonic Drive offers powerful action and excellent positioning accuracy. With in-house produced crossed roller bearings, harmonic and planetary gear units, it can be matched with any brand of servo motor to form a complete servo actuator. We offer harmonic drives in a wide range of sizes as well as complementary solutions. As a result, engineers no longer need to select motors and gearboxes individually, and experience a one-stop service at Hansheng!

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Hansheng offers the Harmonic Drive for high precision and torque transfer, enabling more accurate motion control in automation and robotics.

Harmonic Drive

The harmonic drive offered by Hansheng consists of only three basic components: circular spline, flexspline and wave generator. It is very versatile because of its small size, light weight, high torque, high-precision reduction device and high accuracy. Backlash-free, compact, and lightweight compared to conventional gear systems, it also features high gear ratios, reconfigurable ratios within standard housings, high torque capacity, and coaxial input and output shaft designs.

Basic Structure

Product Selection

Joint Harmonic Drives

SHD-03 and CSF-03 are suitable for robotic fingers. SHD-05 is suitable for robot wrists. SHD-08 is suitable for robot elbows. The SHD-11 is suitable for robot shoulders. Product Feature: Ultrathin Hollow Structure, Compact Structure, High Torque Capacity, High Rigidity, Excellent positioning accuracy, and rotation accuracy, Wrist Joints Special for Robot.

SHD Introduction

SHD Special for joint	Ration	Rated Torque in Input2000r/min (N.m)	Allowable Peak Torque When Start Stop (N.m)	Max Value of Average Loading Torque(N.m)	Instantaneous Allowable Max Torque (N.m)	Allowable Highest Input Speed (r/min)	Allowable Average Input Speed (r/min)
SHD-03-xxx	30	0.08	0.15	0.12	0.25	10000	6500
	50	0.13	0.24	0.16	0.5
	80	0.16	0.34	0.28	0.6
SHD-05-xxx	30	0.3	0.6	0.45	1.1	10000	6500
	50	0.44	1.1	0.6	2
	80	0.72	1.5	1	2.8
	100	0.8	1.65	1.2	3.2
SHD-08-xxx	30	1	2.1	1.65	3.95	8500	3500
	50	1.95	3.95	2.75	7.95
	80	2.5	4.8	3.5	9
	100	2.85	5.5	3.95	10.8
SHD-11-xxx	30	2.64	5.5	4	10.2	8500	3500
	50	4.2	10	6.6	20
	80	5	10.5	8.6	24
	100	6	13.2	10.5	30
SHD Regular Type	Ration	Rated Torque in Input2000r/min (N.m)	Allowable Peak Torque When Start Stop (N.m)	Max Value of Average Loading Torque(N.m)	Instantaneous Allowable Max Torque (N.m)	Allowable Highest Input Speed (r/min)	Allowable Average Input Speed (r/min)
SHD-14	30	3	8.7	6.2	15	8500	3500
	50	4.5	13	6.8	25
	80	6	15	9.5	38
	100	7.4	19	10.8	40
SHD-17	50	11	23	18	48	7000	3500
SHD-17	100	16	37	27	71	7000	3500
SHD-20	50	17	39	24	69	6000	3500
	100	28	57	4	95
	120	28	61	34	95

SHF Introduction

SHF-I Spindle Adjustable Type	Ration	Rated Torque in Input2000r/min (N.m)	Allowable Peak Torque When Start Stop (N.m)	Max Value of Average Loading Torque(N.m)	Instantaneous Allowable Max Torque (N.m)	Allowable Highest Input Speed (r/min)	Allowable Average Input Speed (r/min)	Backlash Arc sec	Design Life hour
SHF-14-I	30	3.8	8.6	7.8	16	8000	3500	≤20	10000
	50	5.1	17	6.6	33			≤20	10000
	80	7.4	22	10.5	45			≤10	15000
	100	7.4	27	10.5	51			≤10	15000
SHF-17-I	30	8.4	15.2	11.5	29	7000	3500	≤20	10000
	50	15.2	32	25	66			≤20	10000
	80	21	41	26	83			≤10	15000
	100	23	52	38	108			≤10	10000
SHF-20-I	30	14	26	19	48	6000	3500	≤20	10000
	50	24	53	32	93			≤20	10000
	80	32	70	45	121			≤10	15000
	100	38	78	47	140			≤10	15000
	120	38	83	47	140			≤10	15000
SHF-25-I	30	26	48	36	90	5500	3500	≤20	10000
	50	37	93	52	177			≤20	10000
	80	60	130	83	242			≤10	15000
	100	64	149	103	270			≤10	15000
	120	64	159	103	289			≤10	15000
	160	64	167	103	298			≤10	15000
SHF-32-I	50	72	205	103	363	4500	3500	≤20	10000
	80	112	289	159	540			≤10	15000
	100	130	325	208	635			≤10	15000
	120	130	335	205	652			≤10	15000

SHF-II Hollow Type	Ration	Rated Torque in Input2000r/min (N.m)	Allowable Peak Torque When Start Stop (N.m)	Max Value of Average Loading Torque(N.m)	Instantaneous Allowable Max Torque (N.m)	Allowable Highest Input Speed (r/min)	Allowable Average Input Speed (r/min)	Backlash Arc sec	Design Life hour
SHF-14-II	30	3.8	8.6	7.8	16	8000	3500	≤20	10000
	50	5.1	17	6.6	33			≤20	10000
	80	7.4	22	10.5	45			≤10	15000
	100	7.4	27	10.5	51			≤10	15000
SHF-17-II	30	8.4	15.2	11.5	29	7000	3500	≤20	10000
	50	15.2	32	25	66			≤20	10000
	80	21	41	26	83			≤10	15000
	100	23	52	38	108			≤10	10000
SHF-20-II	30	14	26	19	48	6000	3500	≤20	10000
	50	24	53	32	93			≤20	10000
	80	32	70	45	121			≤10	15000
	100	38	78	47	140			≤10	15000
	120	38	83	47	140			≤10	15000
SHF-25-II	30	26	48	36	90	5500	3500	≤20	10000
	50	37	93	52	177			≤20	10000
	80	60	130	83	242			≤10	15000
	100	64	149	103	270			≤10	15000
	120	64	159	103	289			≤10	15000
	160	64	167	103	298			≤10	15000
SHF-32-II	50	72	205	103	363	4500	3500	≤20	10000
	80	112	289	159	540			≤10	15000
	100	130	325	208	635			≤10	15000
	120	130	335	205	652			≤10	15000

SHF-III Integrated Type	Ration	Rated Torque in Input2000r/min (N.m)	Allowable Peak Torque When Start Stop (N.m)	Max Value of Average Loading Torque(N.m)	Instantaneous Allowable Max Torque (N.m)	Allowable Highest Input Speed (r/min)	Allowable Average Input Speed (r/min)	Backlash Arc sec	Design Life hour
SHF-14-III	30	3.8	8.6	7.8	16	8000	3500	≤20	10000
	50	5.1	17	6.6	33			≤20	10000
	80	7.4	22	10.5	45			≤10	15000
	100	7.4	27	10.5	51			≤10	15000
SHF-17-III	30	8.4	15.2	11.5	29	7000	3500	≤20	10000
	50	15.2	32	25	66			≤20	10000
	80	21	41	26	83			≤10	15000
	100	23	52	38	108			≤10	10000
SHF-20-III	30	14	26	19	48	6000	3500	≤20	10000
	50	24	53	32	93			≤20	10000
	80	32	70	45	121			≤10	15000
	100	38	78	47	140			≤10	15000
	120	38	83	47	140			≤10	15000
SHF-25-III	30	26	48	36	90	5500	3500	≤20	10000
	50	37	93	52	177			≤20	10000
	80	60	130	83	242			≤10	15000
	100	64	149	103	270			≤10	15000
	120	64	159	103	289			≤10	15000
	160	64	167	103	298			≤10	15000
SHF-32-III	50	72	205	103	363	4500	3500	≤20	10000
	80	112	289	159	540			≤10	15000
	100	130	325	208	635			≤10	15000
	120	130	335	205	652			≤10	15000

SHF-IV Shaft input Type	Ration	Rated Torque in Input2000r/min (N.m)	Allowable Peak Torque When Start Stop (N.m)	Max Value of Average Loading Torque(N.m)	Instantaneous Allowable Max Torque (N.m)	Allowable Highest Input Speed (r/min)	Allowable Average Input Speed (r/min)	Backlash Arc sec	Design Life hour
SHF-14-IV	30	3.8	8.6	7.8	16	8000	3500	≤20	10000
	50	5.1	17	6.6	33			≤20	10000
	80	7.4	22	10.5	45			≤10	15000
	100	7.4	27	10.5	51			≤10	15000
SHF-17-IV	30	8.4	15.2	11.5	29	7000	3500	≤20	10000
	50	15.2	32	25	66			≤20	10000
	80	21	41	26	83			≤10	15000
	100	23	52	38	108			≤10	10000
SHF-20-IV	30	14	26	19	48	6000	3500	≤20	10000
	50	24	53	32	93			≤20	10000
	80	32	70	45	121			≤10	15000
	100	38	78	47	140			≤10	15000
	120	38	83	47	140			≤10	15000
SHF-25-IV	30	26	48	36	90	5500	3500	≤20	10000
	50	37	93	52	177			≤20	10000
	80	60	130	83	242			≤10	15000
	100	64	149	103	270			≤10	15000
	120	64	159	103	289			≤10	15000
	160	64	167	103	298			≤10	15000
SHF-32-IV	50	72	205	103	363	4500	3500	≤20	10000
	80	112	289	159	540			≤10	15000
	100	130	325	208	635			≤10	15000
	120	130	335	205	652			≤10	15000

CSF Introduction

CSF-I Spindle Adjustable Type	Ration	Rated Torque in Input2000r/min (N.m)	Allowable Peak Torque When Start Stop (N.m)	Max Value of Average Loading Torque(N.m)	Instantaneous Allowable Max Torque (N.m)	Allowable Highest Input Speed (r/min)	Allowable Average Input Speed (r/min)
CSF-14-I	30	4	9	6.8	17	8000	3500
	50	5.4	18	6.9	35
	80	7.8	23	11	47
	100	7.8	28	11	54
CSF-17-I	30	8.8	16	12	30	7000	3500
	50	16	34	26	70
	80	22	43	27	87
	100	24	54	39	108
CSF-20-I	30	15	27	20	50	6000	3500
	50	25	56	34	98
	80	34	74	47	127
	100	40	82	49	147
	120	40	87	49	147
CSF-25-I	30	27	50	38	95	5500	3500
	50	39	98	55	186
	80	63	137	87	255
	100	67	157	108	304
	120	67	167	108	289
	160	67	176	108	314
CSF-32-I	50	76	216	75	200	4500	3500
	80	118	304	167	568
	100	137	333	216	647
	120	137	353	216	686

CSF-II Integrated Type	Ration	Rated Torque in Input2000r/min (N.m)	Allowable Peak Torque When Start Stop (N.m)	Max Value of Average Loading Torque(N.m)	Instantaneous Allowable Max Torque (N.m)	Allowable Highest Input Speed (r/min)	Allowable Average Input Speed (r/min)
CSF-14-II	30	4	9	6.8	17	8000	3500
	50	5.4	18	6.9	35
	80	7.8	23	11	47
	100	7.8	28	11	54
CSF-17-II	30	8.8	16	12	30	7000	3500
	50	16	34	26	70
	80	22	43	27	87
	100	24	54	39	108
CSF-20-II	30	15	27	20	50	6000	3500
	50	25	56	34	98
	80	34	74	47	127
	100	40	82	49	147
	120	40	87	49	147
CSF-25-II	30	27	50	38	95	5500	3500
	50	39	98	55	186
	80	63	137	87	255
	100	67	157	108	304
	120	67	167	108	289
	160	67	176	108	314
CSF-32-II	50	76	216	75	200	4500	3500
	80	118	304	167	568
	100	137	333	216	647
	120	137	353	216	686

CSF-M Series	Ration	Rated Torque in Input2000r/min (N.m)	Allowable Peak Torque When Start Stop (N.m)	Max Value of Average Loading Torque(N.m)	Instantaneous Allowable Max Torque (N.m)	Allowable Highest Input Speed (r/min)	Allowable Average Input Speed (r/min)
CSF-mini-03-xxx-1U	30	0.06	0.13	0.1	0.22	10000	6500
	50	0.11	0.21	0.13	0.41
	100	0.15	0.3	0.23	0.57
CSF-mini-05-xxx-1U-F	30	0.23	0.47	0.35	0.85	10000	6500
	50	0.28	0.87	0.5	1.7
	80	0.48	1.2	0.82	2.2
	100	0.57	1.3	0.9	2.5
CSF-mini-08-xxx-2HX-F	30	0.8	1.6	1.3	3.2	8500	3500
	50	1.6	2.9	1.9	6.1
	80	2.1	4	2.9	7.5
	100	2.4	4.6	3.2	8.7
CSF-mini-11-xxx-1U-F	30	2.1	4.1	3.1	8.2	8500	3500
	50	3.2	7.8	5.1	15
	80	4.2	9	7.2	20
	100	4.8	10.5	8.7	23

CSD Introduction

CSD Series	Ration	Rated Torque in Input2000r/min (N.m)	Allowable Peak Torque When Start Stop (N.m)	Max Value of Average Loading Torque(N.m)	Instantaneous Allowable Max Torque (N.m)	Allowable Highest Input Speed (r/min)	Allowable Average Input Speed (r/min)
CSD-14	50	3.7	19	4.8	24	8000	3500
CSD-14	100	5.4	19	7.7	35	8000	3500
CSD-17	50	11	23	18	48	7000	3500
CSD-17	100	16	37	27	71	7000	3500
CSD-20	30	17	39	24	69	6000	3500
	80	28	57	34	95
	100	28	61	34	95

Vedio Show

FAQ

1. What is Harmonic Drive?

Harmonic Drive is a high-precision, high-reliability reducer and a very effective motion control device. It can achieve high torque, zero backlash, zero rebound, high precision and high speed motion control.

2. What are the advantages of Harmonic Drive?

Harmonic Drive has many advantages, including high precision, high torque, high reliability, zero backlash, zero rebound, long life, high speed, high repeatability positioning accuracy and low noise.

3. In what fields can Harmonic Drive be used?

Harmonic Drive is widely used in robotics, medical equipment, machine tools, semiconductors, aerospace and military industries. It can achieve high-precision motion control and help improve production efficiency and product quality.

4. What is the difference between Harmonic Drive and other reducers?

Harmonic Drive has higher accuracy and reliability than other reducers. It uses constructions such as flexible gears and squeeze rings to achieve zero backlash and zero rebound, with high torque transmission and high-speed capabilities.