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 40 160 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 294 Nm
Limit for Average Torque 451 Nm
Limit for Repeated Peak Torque 647 Nm
Limit for Momentary Peak Torque 1,180 Nm
Backdriving Torque Nm
Ave. Input Speed 3,000 rpm
Standard Accuracy 1 arc min
Mass 5.1 kg
Torsional Stiffness
T1 54 Nm
K1 13 10^4 Nm / rad
T2 196 Nm
K2 20 10^4 Nm / rad
K3 23 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.13 m
Offset (R) 0.04 m
Basic Dynamic Rated Load (C) 433 10^2 N
Basic Static Rated Load (Co) 816 10^2 N
Allowable Moment Load (Mc) 849 Nm
Moment Stiffness (Km) 179 10^4 Nm / rad

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