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


Series Size Ratio Type
SHD 20 80 2SH
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 33 Nm
Limit for Repeated Peak Torque 51 Nm
Limit for Momentary Peak Torque 89 Nm
Starting Torque 23 Ncm
Backdriving Torque 21 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 1 arc min
Mass 0.52 kg
Torsional Stiffness
T1 7 Nm
K1 1.3 10^4 Nm / rad
T2 25 Nm
K2 1.7 10^4 Nm / rad
K3 2.5 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.07 m
Offset (R) 0.01 m
Basic Dynamic Rated Load (C) 73 10^2 N
Basic Static Rated Load (Co) 110 10^2 N
Allowable Moment Load (Mc) 93 Nm
Moment Stiffness (Km) 21 10^4 Nm / rad

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