Harmonic Drive LLC | 42 Dunham Ridge, Beverly, MA 01915 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive.

Series Size Ratio Type
SHF 17 100 2UJ
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 24 Nm
Limit for Average Torque 39 Nm
Limit for Repeated Peak Torque 54 Nm
Limit for Momentary Peak Torque 110 Nm
Starting Torque 6.5 Ncm
Backdriving Torque 7.8 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 1.5 arc min
Mass 0.94 kg
Torsional Stiffness
T1 3.9 Nm
K1 1 10^4 Nm / rad
T2 12 Nm
K2 1.4 10^4 Nm / rad
K3 1.6 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.06 m
Offset (R) 0.02 m
Basic Dynamic Rated Load (C) 104 10^2 N
Basic Static Rated Load (Co) 163 10^2 N
Allowable Moment Load (Mc) 124 Nm
Moment Stiffness (Km) 15.4 10^4 Nm / rad


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