Ultra-flat cup-shaped strain wave gear series with ratios 50-160, rated torque 3.7-16 N·m and backlash within 10 arcsec for space-constrained robot joints.
COMPONENT
Flat external rotor motor with a diameter of 32 mm & a rated power of 7.4 W. ✓ 8-pole design ✓ Smooth & stable operation at low speed ► Nanotec online shop
Harmonic Drive FBS hollow-shaft harmonic gear units: sizes 25/32 with ratios 30/50/100 (6 models). Rated L10 torque 15-56 Nm, repeated peak 25-106 Nm, instantaneous peak 50-151 Nm, standard accuracy 2-3 arcmin, mass 1.3-2.2 kg. The large-bore hollow shaft routes cables, air lines and optical shafts through the axis, ideal for robot joints and rotary platforms needing in-axis wiring.
Component set, silk hat type, the SHF-2A has a large hollow through hole and provides high torque capacity and exceptional positioning accuracy, all in a compact design.
Compact and easy to install, Harmonic Drive® CSF series gearing was primarily developed to meet the space constraints of the industry, while preserving performance
The AMM5B is Lika's optical absolute kit encoder for robotic joints, cobots and hollow-shaft motors: up to 23-bit singleturn (8,388,608 cpr) plus electronic multiturn counter x65,536 revs, ±0.02° typical (±0.2° max) accuracy, dual BiSS-C (max 10 MHz) + 1Vpp sin/cos incremental track output; +5 Vdc ±5% at 0.5 W, hollow shaft up to Ø24 mm, 10,000 rpm max, 250 g shock / 10 g vibration endurance, -25 to +100°C with the encoder module under 23 g, a mainstream European choice for high-precision absolute feedback in compact joint modules.
The MA3 is US Digital's miniature absolute magnetic shaft encoder with 10/12-bit absolute angular resolution over analog or PWM output and instant angle at power-up; 4.5-5.5 V supply at 16-20 mA typical, 50 ms power-up; up to 15,000 rpm mechanical with starting torque as low as 0.05 in-oz and 4.1e-6 oz-in-s² rotor inertia; -40 to +125°C operation, 20 G vibration (5 Hz-2 kHz), ±2 kV HBM ESD per MIL-STD-883E 3015.7 and only 0.046° RMS output noise on the 12-bit version, in a threaded brass 3/8-32 UNF package for compact absolute angle feedback in robot joints, servos and gimbals.
Tamagawa Seiki's incremental rotary encoders span the general-purpose OIS series (OIS38/OIS66/OIS68/OIS128, Φ38-Φ128 mm, 25-5,000 C/T, DC+5 to +24 V, up to 200 kHz response, IP50-IP57 sealing, 7,200 rpm max) and the in-servo OIH series (OIH35/OIH48/OIH60, 500-12,000 C/T with A,B,Z plus U,V,W commutation signals, DC+5 V, 200 kHz, -20 to +85°C); starting torque down to 4.4e-3 N·m with 98 m/s² (10G) vibration and 980 m/s² (100G) shock endurance, the classic speed/position feedback for servo motors, machine spindles and robot joints.
Tamagawa Seiki's SI35 single-turn absolute encoders target in-servo position feedback: TS5668N20 at 17-bit and TS5710N40/TS5711N40 at 23-bit resolution in a Φ35 mm frame with Φ6/Φ8 mm shafts, pure-binary code over line-driver output, DC+5V±5% supply at 110-150 mA, up to 6,000 rpm with starting torque as low as 5.9e-3 N·m, -10 to +85°C operation, 98 m/s² (10G) vibration and 1,960 m/s² (200G) shock endurance at only 0.03-0.06 kg, a compact absolute feedback choice for cobot and humanoid joint modules.
RLS (Renishaw Group) AksIM-4 is a non-contact absolute magnetic ring encoder for large-diameter rotary axes; the readhead and ring mount separately with generous air-gap tolerance, maintenance-free and easy to install. Three bores 105/155/205 mm (OD 140.4/190.4/240.4 mm), 26-30 bit resolution options, accuracy better than ±130 arcsec, repeatability better than ±10 arcsec, BiSS-C synchronous serial interface, IP67 rated; UL-certified and off-axis variants available for robot joints, turntables, radar pedestals and medical systems.
Haydon Kerk Pittman (AMETEK, USA) G40A is a Ø40 mm high-torque spur gearbox with ratios 4:1-864:1 in 1-4 stages, 14.12 Nm (2000 oz-in) max load across the range, efficiency 0.65-0.90, 255.1-425.2 g and 35.6-58.4 mm long; official gearmotor length tables cover DC040B/DC054B brushed and EC057C brushless pairings for robot joints, AGV drives and heavy positioning.
Haydon Kerk Pittman (AMETEK, USA) G35A is a Ø35 mm spur gearbox with 11 ratios from 6.3:1 to 1803.6:1 in 1-2 stages; max load 0.706 Nm (100 oz-in) standard, 1.130 Nm (160 oz-in) HT and 1.236 Nm (175 oz-in) WF; only 66.6-92.1 g with gearhead length 24.6-29.6 mm and efficiency 0.48-0.81, pairing with Pittman motors as gearmotors for robot joints, pumps and precision positioning.
Harmonic Drive SHG-2A silk-hat component sets: 9 sizes from 14 to 65, ratios 50/80/100/120/160, rated L10 torque 7-1,236 Nm, repeated peak 23-3,419 Nm, momentary peak up to 6,175 Nm, standard accuracy ≤1 arcmin, mass 0.11-7.04 kg. The flanged hat-shaped flexspline is stiffer and more torque-dense than cup types and pairs with crossed-roller bearings to carry combined axial/radial joint loads in humanoids and high-payload servo turntables.
Harmonic Drive CSD-2A cup-type component sets (wave generator, flexspline and circular spline supplied separately for customer integration): sizes 14-50, ratios 50/80/100, rated L10 torque 3.7-329 Nm, repeated peak 12-686 Nm, momentary peak 24-1,440 Nm, standard accuracy ≤1 arcmin, mass 0.29-1.9 kg, K1 torsional stiffness 0.29-21×10^4 Nm/rad. Zero-backlash strain-wave design with cup-shaped flexspline for robot joints, semiconductor handling and precision servo axes.
Jiangsu Donghua Testing Technology Co., Ltd. (Donghua Testing, SZSE 300354) is a leading Chinese structural mechanics testing and sensing company. The 3F611 six-axis force/torque sensor simultaneously measures three force components (Fx/Fy/Fz) and three moment components (Mx/My/Mz) with five range tiers of 50/100/200/500/1000 N and 2/5/10/20/50 N·m; non-linearity, hysteresis and repeatability are all ±0.5%FS with ±1%FS zero output over -20 to +65 C, offering high accuracy, full perception, strong adaptability, low crosstalk, matrix decoupling and easy mounting for robot joints, dexterous hands and structural-test force feedback.
Zhongda Leader (SZSE 002896) precision strain wave gear reducer in CSG high-torque cup, SHG high-torque hat and ZSHF flat hollow shaft series, sizes 14/17/20/25/32 with ratios 50/80/100/120; rated torque 5.4-137 N·m at 2000 rpm input, permissible peak torque at start/stop 6.9-216 N·m, instantaneous max torque 34-686 N·m, max input speed 3500 rpm (grease), 10000 h design life; transmission accuracy 1.2-1.8 arc-min, lost motion 1.0-2.0 arc-min, max backlash 28-60 arc-sec, graded torsional stiffness K1-K3; for industrial robot, intelligent logistics and precision automation joints.
Haozhi DHSG-H standard hat-type harmonic (strain-wave) reducer, sizes 14-32 (plus 40/45), ratios 50/80/100/120, hollow input for center wiring; rated torque 5.4-137 N.m, transmission accuracy ≤75″ (14-17) / ≤50″ (20-32) standard and ≤50″ / ≤25″ special, 5 arc-sec repeatability, L10 ≥10,000 h / L50 ≥50,000 h life; proprietary SP tooth profile with ≥30% mesh engagement and +10% stiffness over industry standard, custom low-noise lubricant, 50% fewer parts and 1/3 less volume/weight; for light-payload 6-axis robots and press manipulators.
Harmonic Drive (Japan/US) invented strain wave gearing and leads the market. The CSG-2A is its second-generation cup-type component set: 10 sizes (14-65), ratios 50:1-160:1, repeated peak torque 23-3419 Nm and momentary peaks to 6175 Nm, zero backlash with high accuracy and a high-load output bearing, the de-facto standard reducer for robot joints; LW lightweight versions available.
SPINEA (Slovakia, now part of Timken) is a European leader in precision cycloidal reduction and integrated actuators. DriveSpin combines an optimized servomotor with a TwinSpin cycloidal gear into a zero-backlash, high-dynamic actuator with high torsional/tilting stiffness and integrated output bearing: DS Standard covers 18-460 N·m rated torque with up to 1150 N·m acceleration/braking torque, ratios 47-133, 2000 rpm rated input; DSH hollow-shaft, DSM modular and DSF flat variants complete the line. Used in 6-axis robots, gantries and manipulators, CNC machines, bending machines, medical equipment, aerospace, flight simulators, semiconductor and radar systems.
Renishaw (UK) is a world leader in precision measurement and encoders. RESOLUTE is a high-speed, fine-resolution true-absolute open optical encoder system: the readhead acts as an ultra-fast miniature camera imaging a single-track 30 um-pitch absolute scale, with a DSP computing absolute position - position is available immediately at switch-on with no battery and no multi-track de-phasing. Linear resolution down to 1 nm, rotary up to 32 bit (4,294,967,296 counts/rev, ~0.0003 arcsec), max reading speed 100 m/s (36,000 rpm), SDE +/-40 nm and jitter <10 nm RMS, with dirt-immune scale reading. Variants include UHV (120 C bake-out), ETR (-40 to +80 C) and FS (functional safety SIL 2 / PL d); serial interfaces cover BiSS C / BiSS Safety, FANUC, Mitsubishi, Panasonic, Siemens DRIVE-CLiQ and Yaskawa. Linear scales RTLA/RELA/RSLA up to 21 m; RESA30/REXA30 rotary rings 52-550 mm with typical installed accuracy of +/-1.9 arcsec. Used in semiconductor equipment, radar/SATCOM antennas, precision rotary tables and high-end robot joints.
RLS (Slovenia, part of the Renishaw group) is a specialist in rotary and linear magnetic encoders. AksIM-2 is a non-contact off-axis absolute rotary encoder module for applications with limited installation space: a compact, low-profile readhead detects the field of a thin axially magnetized ring. It uses a custom magnetic-sensor ASIC with BiSS C, SSI or asynchronous serial output, resolutions up to 20 bits, true absolute measurement with no hysteresis, built-in self-monitoring and a self-calibration option, and immunity to external magnetic fields; system accuracy after self-calibration is +/-0.004 to +/-0.020 deg (+/-14 to +/-72 arcsec), max speed 10,000 rpm, 4.5-5.5 V supply (typ. 130 mA); ring inner diameters span 8-68 mm in 11 sizes with -40 to +105 C operation. Used for position feedback in electric motors, medical devices and robot joints.
SPINEA (Slovakia, now part of Timken) is the global benchmark for trochoidal (cycloidal) precision reduction gears. TwinSpin integrates a high-precision reduction mechanism with a high-capacity radial-axial output bearing in one unit: zero backlash, lost motion under 1 arcmin, average transmission error +/-18 to +/-36 arcsec. The cylindrical-case T series spans TS 60-TS 300 (9 sizes) with ratios 33-191, rated torque 37-2,940 N-m, emergency-stop capacity up to 14,700 N-m, torsional stiffness to 680 N-m/arcmin and tilting stiffness to 3,500 N-m/arcmin at only 0.86-55.7 kg; the load mounts directly on the output flange without extra bearings. Used in robotics, machine tools, medical, defense and automation.
Harmonic Drive is the inventor and global leader of strain wave (harmonic) gearing. The SHG-2A silk-hat component set (wave generator, flexspline, circular spline, output flange) is axially shorter than the cup-type CSG, spanning 10 sizes 14-65 with ratios 50-160: rated torque (L10) 7-1,236 N·m, repeated peak 23-3,419 N·m, momentary peak 46-6,175 N·m, backdriving start torque only 2.2-180 N·m, standard accuracy 1 arcmin (1.5 for size 14), zero backlash, torsional stiffness K1 0.47-54 x10^4 N·m/rad at 0.11-7.04 kg - ideal for axially constrained precision joints in humanoid/cobot shoulders, elbows and wrists.
Keli Sensing (Ningbo Keli Sensing Technology, SSE 603662) is a leading Chinese force-sensor manufacturer. The KL6D/KL6F six-axis force/torque sensors use high-precision strain-gauge principle with four range tiers (Fx/Fy/Fz 100-700 N, Mx/My/Mz 4-18 N·m), RS485 digital output at 1000 Hz, non-linearity ±0.5%FS, crosstalk ±1%FS, repeatability/creep ±0.1%FS, IP65 sealing in aluminium alloy, 300%FS safe / 500%FS ultimate overload and 5-36 V DC excitation in a flange-mounted Φ75 x 42.5 mm body - suited to industrial arm force detection, automation and machine tools as well as humanoid wrist/ankle six-axis force perception.
