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 14 30 2SO
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 4 Nm
Limit for Average Torque 6.8 Nm
Limit for Repeated Peak Torque 9 Nm
Limit for Momentary Peak Torque 17 Nm
Backdriving Torque Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 2 arc min
Mass 0.41 kg
Torsional Stiffness
T1 2 Nm
K1 0.19 10^4 Nm / rad
T2 6.9 Nm
K2 0.24 10^4 Nm / rad
K3 0.34 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.05 m
Offset (R) 0.02 m
Basic Dynamic Rated Load (C) 58 10^2 N
Basic Static Rated Load (Co) 86 10^2 N
Allowable Moment Load (Mc) 74 Nm
Moment Stiffness (Km) 8.5 10^4 Nm / rad


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