Harmonic Drive LLC | 247 Lynnfield St. Peabody, MA 01960 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.


Series Size Ratio Type
SHF 32 120 2A-GR
Gear Model Number
Gear Dimensions (see drawing)
Flange Dim A - Motor Adapter Flange Bore Dia. {{foundMotor.flangeDimA}} mm
Flange Dim B - Motor Adapter Flange Bore Depth {{foundMotor.flangeDimB}} mm
Motor Dim C - Motor Bolt Circle Dia. {{foundMotor.dimC}} mm
Flange Dim D - Bolt Size {{foundMotor.flangeDimD}}
Coupling Dim F - Motor Coupling Bore Dia. {{foundMotor.couplingDimF}} mm
Mass kg
Gear Performance Data
Rated Torque L10 137 Nm
Limit for Average Torque 216 Nm
Limit for Repeated Peak Torque 353 Nm
Limit for Momentary Peak Torque 686 Nm
Starting Torque 15 Ncm
Backdriving Torque 21 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 1 arc min
Mass 0.97 kg
Torsional Stiffness
T1 29 Nm
K1 6.7 10^4 Nm / rad
T2 108 Nm
K2 11 10^4 Nm / rad
K3 12 10^4 Nm / rad

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