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项目 · key数值原文语句来源依据采集 · 变更
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 14 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +1.00.01 N·m
原文语句14 +1.0 +0.2 –
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 14 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +0.20.002 N·m
原文语句14 +1.0 +0.2 –
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 17 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +1.60.016 N·m
原文语句17 +1.6 +0.3 -0.2
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 17 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +0.30.003 N·m
原文语句17 +1.6 +0.3 -0.2
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 17 / 120 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 -0.2-0.002 N·m
原文语句17 +1.6 +0.3 -0.2
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 20 / 50; 40 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +2.40.024 N·m
原文语句20 +2.4 +0.5 -0.3
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 20 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +0.50.005 N·m
原文语句20 +2.4 +0.5 -0.3
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 20 / 120 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 -0.3-0.003 N·m
原文语句20 +2.4 +0.5 -0.3
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 25 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +4.00.04 N·m
原文语句25 +4.0 +0.8 -0.5
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 25 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +0.80.008 N·m
原文语句25 +4.0 +0.8 -0.5
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 25 / 120 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 -0.5-0.005 N·m
原文语句25 +4.0 +0.8 -0.5
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 32 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +7.00.07 N·m
原文语句32 +7.0 +1.4 -1.0
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 32 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +1.40.014 N·m
原文语句32 +7.0 +1.4 -1.0
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 32 / 120 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 -1.0-0.01 N·m
原文语句32 +7.0 +1.4 -1.0
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 40 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +130.13 N·m
原文语句40 +13 +2.4 -1.7
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 40 / 120 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 -1.7-0.017 N·m
原文语句40 +13 +2.4 -1.7
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 14 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +1.00.01 N·m
原文语句14 +1.0 +0.2
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 14 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +0.20.002 N·m
原文语句14 +1.0 +0.2
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 17 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +1.60.016 N·m
原文语句17 +1.6 +0.3
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 17 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +0.30.003 N·m
原文语句17 +1.6 +0.3
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 20 / 50; 40 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +2.40.024 N·m
原文语句20 +2.4 +0.5
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 20 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +0.50.005 N·m
原文语句20 +2.4 +0.5
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 25 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +4.00.04 N·m
原文语句25 +4.0 +0.8
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 25 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +0.80.008 N·m
原文语句25 +4.0 +0.8
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 32 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +7.00.07 N·m
原文语句32 +7.0 +1.4
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 32 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +1.40.014 N·m
原文语句32 +7.0 +1.4
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 40 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +130.13 N·m
原文语句40 +13 +2.4
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 14 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +1.00.01 N·m
原文语句14 +1.0 +0.2 –
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 14 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +0.20.002 N·m
原文语句14 +1.0 +0.2 –
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 17 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +1.60.016 N·m
原文语句17 +1.6 +0.3 -0.2
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 17 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +0.30.003 N·m
原文语句17 +1.6 +0.3 -0.2
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 17 / 120 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 -0.2-0.002 N·m
原文语句17 +1.6 +0.3 -0.2
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 20 / 50; 40 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +2.40.024 N·m
原文语句20 +2.4 +0.5 -0.3
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 20 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +0.50.005 N·m
原文语句20 +2.4 +0.5 -0.3
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 20 / 120 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 -0.3-0.003 N·m
原文语句20 +2.4 +0.5 -0.3
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 25 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +4.00.04 N·m
原文语句25 +4.0 +0.8 -0.5
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 25 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +0.80.008 N·m
原文语句25 +4.0 +0.8 -0.5
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 25 / 120 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 -0.5-0.005 N·m
原文语句25 +4.0 +0.8 -0.5
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 32 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +7.00.07 N·m
原文语句32 +7.0 +1.4 -1.0
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 32 / 80 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +1.40.014 N·m
原文语句32 +7.0 +1.4 -1.0
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 32 / 120 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 -1.0-0.01 N·m
原文语句32 +7.0 +1.4 -1.0
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 40 / 50 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 +130.13 N·m
原文语句40 +13 +2.4 -1.7
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
空载扭矩补偿值no_load_torque_compensation
数值测试条件 样本分类 SHD-2UH · 磨合时间 Torque value is measured after 2 hours at 2000rpm input. · 测量负载条件 No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · 磨合输入转速 Torque value is measured after 2 hours at 2000rpm input. · 测量说明 Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · 补偿方法 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · 样本配置 Size / Ratio: 40 / 120 · 参考减速比 No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
原文 -1.7-0.017 N·m
原文语句40 +13 +2.4 -1.7
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
滞后损失hysteresis_loss
数值测试条件 滞后测量载荷 ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, when the applied torque is increased to
the rated torque and is brought back to [zero], the torsional angle
does not return exactly back to the zero point This small difference
(B – B') is called hysteresis loss. · 样本配置 Size / Ratio: 14 / 50
原文 7.32.51 arcmin
原文语句50 ×10-4rad 7.3 5.8 5.8 5.8 5.8 5.8
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
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滞后损失hysteresis_loss
数值测试条件 滞后测量载荷 ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, when the applied torque is increased to
the rated torque and is brought back to [zero], the torsional angle
does not return exactly back to the zero point This small difference
(B – B') is called hysteresis loss. · 样本配置 Size / Ratio: 14 / 80 or more; 17 / 50; 20 / 50; 25 / 50; 32 / 50; 40 / 50
原文 5.81.994 arcmin
原文语句50 ×10-4rad 7.3 5.8 5.8 5.8 5.8 5.8
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
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滞后损失hysteresis_loss
数值测试条件 滞后测量载荷 ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, when the applied torque is increased to
the rated torque and is brought back to [zero], the torsional angle
does not return exactly back to the zero point This small difference
(B – B') is called hysteresis loss. · 样本配置 Size / Ratio: 17 / 80 or more; 20 / 80 or more; 25 / 80 or more; 32 / 80 or more; 40 / 80 or more
原文 2.90.997 arcmin
原文语句80 or
more ×10-4rad 5.8 2.9 2.9 2.9 2.9 2.9
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
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扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 14 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.02 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
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扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 17 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 3.93.9 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 20 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 7.07 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 25 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1414 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 32 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2929 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 40 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5454 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
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扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 14 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.96.9 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
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扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 17 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1212 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
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扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 20 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2525 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
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扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 25 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4848 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
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扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 32 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 108108 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
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扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 40 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 196196 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
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扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.292900 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.676700 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.111000 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.020000 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.747000 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 8.888000 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.373700 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
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扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.888800 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.313000 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.727000 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.161000 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 11110000 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.474700 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.212000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.020000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 3.737000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 8.484000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 15150000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
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依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.92.372 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
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依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5.81.994 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
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依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.42.2 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
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依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.22.131 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
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扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.12.097 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
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采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50; 32 / 80 or more; 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 144.813 arcmin
原文语句θ2 ×10-4rad 19 14 19 18 18 18
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采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.44000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.848400 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.313000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.727000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.161000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 11110000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.444400 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
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采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.949400 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
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采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.717000 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
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采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 3.737000 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
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采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 7.878000 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
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采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 14140000 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.616100 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.313000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.525000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.747000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 11110000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
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依据有出处
采集 · 变更2026-09-03变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 20200000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
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依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5.01.719 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
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依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.61.581 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
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依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5.41.856 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
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依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5.21.788 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
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依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.81.65 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
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依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.91.684 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
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依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 165.5 arcmin
原文语句θ2 ×10-4rad 16 13 15 13 14 14
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依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more; 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 134.469 arcmin
原文语句θ2 ×10-4rad 16 13 15 13 14 14
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 155.157 arcmin
原文语句θ2 ×10-4rad 16 13 15 13 14 14
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-03变更 —
滞后损失hysteresis_loss
数值测试条件 滞后测量载荷 ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, when the applied torque is increased to
the rated torque and is brought back to [zero], the torsional angle
does not return exactly back to the zero point This small difference
(B – B') is called hysteresis loss. · 样本配置 Size / Ratio: 14 / 50
原文 7.32.51 arcmin
原文语句50 ×10-4rad 7.3 5.8 5.8 5.8 5.8 5.8
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
滞后损失hysteresis_loss
数值测试条件 滞后测量载荷 ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, when the applied torque is increased to
the rated torque and is brought back to [zero], the torsional angle
does not return exactly back to the zero point This small difference
(B – B') is called hysteresis loss. · 样本配置 Size / Ratio: 14 / 80 or more; 17 / 50; 20 / 50; 25 / 50; 32 / 50; 40 / 50
原文 5.81.994 arcmin
原文语句50 ×10-4rad 7.3 5.8 5.8 5.8 5.8 5.8
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
滞后损失hysteresis_loss
数值测试条件 滞后测量载荷 ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, when the applied torque is increased to
the rated torque and is brought back to [zero], the torsional angle
does not return exactly back to the zero point This small difference
(B – B') is called hysteresis loss. · 样本配置 Size / Ratio: 17 / 80 or more; 20 / 80 or more; 25 / 80 or more; 32 / 80 or more; 40 / 80 or more
原文 2.90.997 arcmin
原文语句80 or
more ×10-4rad 5.8 2.9 2.9 2.9 2.9 2.9
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 14 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.02 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 17 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 3.93.9 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 20 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 7.07 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 25 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1414 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 32 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2929 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 40 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5454 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 14 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.96.9 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 17 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1212 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 20 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2525 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 25 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4848 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 32 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 108108 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 40 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 196196 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
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扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.292900 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.676700 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.111000 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.020000 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.747000 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 8.888000 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.373700 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.888800 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.313000 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.727000 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.161000 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 11110000 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.474700 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.212000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.020000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 3.737000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 8.484000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 15150000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.92.372 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
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依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5.81.994 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.42.2 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.22.131 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.12.097 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
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依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50; 32 / 80 or more; 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 144.813 arcmin
原文语句θ2 ×10-4rad 19 14 19 18 18 18
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.44000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.848400 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.313000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.727000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.161000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 11110000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.444400 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.949400 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.717000 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 3.737000 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 7.878000 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 14140000 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.616100 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.313000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.525000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.747000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 11110000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 20200000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5.01.719 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.61.581 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5.41.856 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5.21.788 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.81.65 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.91.684 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 165.5 arcmin
原文语句θ2 ×10-4rad 16 13 15 13 14 14
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more; 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 134.469 arcmin
原文语句θ2 ×10-4rad 16 13 15 13 14 14
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
–T0. This is called the “Torque – torsion angle diagram,” which
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 155.157 arcmin
原文语句θ2 ×10-4rad 16 13 15 13 14 14
来源https://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
滞后损失hysteresis_loss
数值测试条件 滞后测量载荷 ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, when the applied torque is increased to
the rated torque and is brought back to [zero], the torsional angle
does not return exactly back to the zero point This small difference
(B – B') is called hysteresis loss. · 样本配置 Size / Ratio: 14 / 50
原文 7.32.51 arcmin
原文语句50 ×10-4rad 7.3 5.8 5.8 5.8 5.8 5.8
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
滞后损失hysteresis_loss
数值测试条件 滞后测量载荷 ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, when the applied torque is increased to
the rated torque and is brought back to [zero], the torsional angle
does not return exactly back to the zero point This small difference
(B – B') is called hysteresis loss. · 样本配置 Size / Ratio: 14 / 80 or more; 17 / 50; 20 / 50; 25 / 50; 32 / 50; 40 / 50
原文 5.81.994 arcmin
原文语句50 ×10-4rad 7.3 5.8 5.8 5.8 5.8 5.8
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
滞后损失hysteresis_loss
数值测试条件 滞后测量载荷 ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, when the applied torque is increased to
the rated torque and is brought back to [zero], the torsional angle
does not return exactly back to the zero point This small difference
(B – B') is called hysteresis loss. · 样本配置 Size / Ratio: 17 / 80 or more; 20 / 80 or more; 25 / 80 or more; 32 / 80 or more; 40 / 80 or more
原文 2.90.997 arcmin
原文语句80 or
more ×10-4rad 5.8 2.9 2.9 2.9 2.9 2.9
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
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采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 14 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.02 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
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采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 17 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 3.93.9 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
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采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 20 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 7.07 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 25 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1414 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 32 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2929 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 40 · 扭转刚性区间 T1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5454 N·m
原文语句T1 Nm 2.0 3.9 7.0 14 29 54
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 14 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.96.9 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 17 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1212 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 20 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2525 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 25 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4848 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 32 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 108108 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡扭矩torsional_transition_torque
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 样本尺寸代号 Size: 40 · 扭转刚性区间 T2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 196196 N·m
原文语句T2 Nm 6.9 12 25 48 108 196
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.292900 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.676700 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.111000 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.020000 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.747000 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 8.888000 N·m/rad
原文语句Ratio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
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依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.373700 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.888800 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.313000 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.727000 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.161000 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 11110000 N·m/rad
原文语句K2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.474700 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.212000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
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依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.020000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
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依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 3.737000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 8.484000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 15150000 N·m/rad
原文语句K3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
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采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.92.372 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
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采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5.81.994 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
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采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.42.2 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
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采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.22.131 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
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采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 50 · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.12.097 arcmin
原文语句θ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
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采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 50; 32 / 80 or more; 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 144.813 arcmin
原文语句θ2 ×10-4rad 19 14 19 18 18 18
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.44000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.848400 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.313000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.727000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 6.161000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 11110000 N·m/rad
原文语句Ratio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.444400 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.949400 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.717000 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 3.737000 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
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采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 7.878000 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 14140000 N·m/rad
原文语句K2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 0.616100 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 1.313000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 2.525000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.747000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 11110000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转刚度torsional_stiffness
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 K3 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 20200000 N·m/rad
原文语句K3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5.01.719 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
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采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.61.581 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
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采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5.41.856 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
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采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 5.21.788 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
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采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 32 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.81.65 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
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采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ1 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 40 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 4.91.684 arcmin
原文语句θ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 14 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 165.5 arcmin
原文语句θ2 ×10-4rad 16 13 15 13 14 14
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 17 / 80 or more; 25 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 134.469 arcmin
原文语句θ2 ×10-4rad 16 13 15 13 14 14
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
扭转过渡角度torsional_transition_angle
数值测试条件 数值性质 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · 扭转刚性区间 θ2 · 测量说明 ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 shows
the torsional angle at the output side when the torque applied on
the output side starts from zero, increases up to +T0 and
decreases down to –T0. This is called the “Torque – torsion angle
diagram,” which normally draws a loop of 0 – A – B – Aʼ – Bʼ – A.
The slope described in the “Torque – torsion angle diagram” is
represented as the spring constant for the stiffness of the
HarmonicDrive® gear (unit: Nm/rad).
As shown in Figure 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
K1 ···· The spring constant when the torque changes from [zero] to [T1]
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · 样本配置 Size / Ratio: 20 / 80 or more · 最小值比例 * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
原文 155.157 arcmin
原文语句θ2 ×10-4rad 16 13 15 13 14 14
来源https://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · 制造商文档
依据有出处
采集 · 变更2026-09-06变更 —
规格 241 中显示 241
原文文档。
读取数值的来源 2 个
文档 2
harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf制造商文档 · 164 个数值Retrieved 2026-09-03
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2026-09-03首次采集 · 来源 2 条
下次更新2026-10-01
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