Compact and easy to install, Harmonic Drive® CSF series gearing was primarily developed to meet the space constraints of the industry, while preserving performance
COMPONENT
The Nidec Drive Technology (ex-Shimpo) FLEXWAVE WP strain wave gear series spans 6 frame sizes 35-100 and ratios 50-160 with rated output torque 7-382 Nm, peak 23-841 Nm and emergency-stop torque 46-1530 Nm; nominal input 3000 rpm, max 4000-8500 rpm and a 10,000 h rated life. Zero backlash with high torsional stiffness, cross-roller output bearing and only 0.39-4.5 kg mass, offered as simple unit, input-shaft unit or hollow-shaft unit for humanoid rotary joints and cobots.
The Harmonic Drive CSG/CSF component sets (wave generator, flexspline, circular spline) are the industry-standard strain wave gears: 17 frame sizes CSG-5 to CSG-45, ratios 30-160, rated torque 0.94-921 Nm with peak 2.9-2940 Nm, speeds to 6500-18000 rpm and backlash ≤10-20 arc-sec - single-stage zero-backlash transmission with high torque density for humanoid rotary joints, cobots and precision tables.
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.
HIWIN (2049.TW) DATORKER DSC series are standard strain wave gear component sets in sizes 11-40 with 50-160 ratios, 3.5-294 N·m rated torque at 2000 r/min input, peak start/stop torque up to 647 N·m, instantaneous permissible torque up to 1180 N·m, max input speed 8500 r/min, angular transmission accuracy ≤1 arcmin (ratio ≥80), backlash down to 5 arcsec and rated life 7000 h (L10) / 35000 h (L50); the family adds lightweight (-40% weight, 36 mm hollow), heavy-load (+30% torque, 10000 h) and rotary-actuator (±6 arcsec repeatability) variants for humanoid robot joints and precision 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.
Harmonic Drive is the inventor and global leader of strain wave (harmonic) gearing. The CSG-2A component set (wave generator, flexspline, circular spline) spans 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, standard accuracy 1 arcmin (1.5 for size 14), zero backlash and high torsional stiffness (K1 0.34-54 x10^4 N·m/rad) at only 0.09-6.7 kg - the go-to precision reducer for cobot, humanoid, semiconductor and optics joints.
Leaderdrive (688017.SH), China's leading strain wave gear maker, offers the LCS/LCSG standard cup-shaped series built from flexspline, circular spline, wave generator and roller bearings: sizes 14-58 with 30-160 ratios, 4-969 N·m rated torque and up to 4459 N·m momentary (LCSG high-torque version ~30% above LCS), backlash ≤10 arcsec, angular transmission accuracy down to 1 arcmin, input speeds to 8500 r/min and torsional rigidity up to 71×10⁴ N·m/rad, for robots, humanoids, semiconductor/PCB equipment, machine tools and photovoltaic machinery.
Laifual (03952.HK) FS series are standard harmonic component sets in FSF, FSS, FSN and FSG structures, sizes 5-50 with 50-160 ratios, 0.4-529 N·m rated torque at 2000 r/min input, momentary permissible torque up to 2450 N·m, backlash ≤20 arcsec, angular transmission accuracy down to 1 arcmin, 10000-15000 h design life and a lightest weight of only 25 g, benchmarking Harmonic Drive CSF/CSG/CSD for humanoid/collaborative robot joints and precision automation.
Ultra-flat strain wave gear built for tight axial space, about 50% shorter than the standard LHS/LHSG series, with a large hollow bore for cable routing. It keeps high rigidity, ultra-low backlash and strong load capacity across frame sizes 14-40 and ratios 50-160, rated 3.7-206 N·m, for humanoid robots, robot joints, PCB equipment and machine tools.
