Mechanical
Harmonic Drive Reducer
Provides high-ratio, low-backlash speed reduction between a servo motor and a robot axis using strain-wave gearing.
A harmonic drive reducer uses a flexible splined cup, a rigid outer spline, and an elliptical wave generator to achieve high gear reduction with near-zero backlash in a small, lightweight package, which is why it shows up most often on wrist axes and smaller robots.
The flexible cup, called the flexspline, is the component most prone to fatigue over time since it deforms elastically on every revolution, and its wear eventually shows up as increased backlash or positioning error rather than sudden failure.
Grease specification and change interval matter more for harmonic drives than for many other reducer types, since the flexspline depends on proper lubrication to manage the constant flexing it undergoes.
Related components
Common questions
- What does the Harmonic Drive Reducer do?
- Provides high-ratio, low-backlash speed reduction between a servo motor and a robot axis using strain-wave gearing.
- How does the Harmonic Drive Reducer fail?
- Common failure modes: Flexspline fatigue increasing backlash over service life, Grease breakdown from missed lubrication intervals, Wave generator bearing wear causing noise and vibration, Sudden failure following an axis overload or collision.
- What fault codes relate to the Harmonic Drive Reducer?
- Related codes include SRVO-021.