SHDmini-08 Mini Horizontal Harmonic Reducer SHD-08 Harmonic Drive (100:1 Gear Ratio) for Robot Joint

SHDmini-08 Mini Horizontal Harmonic Reducer SHD-08 Harmonic Drive (100:1 Gear Ratio) for Robot Joint

Features:
HD-08 Harmonic Reducer
* Diameter: 40mm
* Thickness: 11.5mm
* Weight: 0.060-0.061kg
* Design Life: 7000-10000 (hours)
* Precision-machined, long lifespan, more durable, and widely applicable
* Specially designed for robotic joints

Super Small Precision Reducer
* Ultra-Small Diameter Bearings: Though small in size, they are fully functional. The minimum module of the gear teeth in micro harmonic drives can be as small as 0.08, making standard gear-cutting tools unsuitable for processing. The minimum diameters for cross-roller bearings and flexure bearings are only 5mm and 12mm, respectively. These three major machining challenges in metal cutting are the primary factors limiting the development of micro harmonic drives. Our team has collaborated with experts across various fields to conduct innovative research and has gradually overcome these challenges.

Toughness Protection
* By applying special electroslag remelting purification and repeated rotary forging on raw materials with precise methods, we have improved the stability of various performance indicators of the flexspline material. This ensures the stringent requirements of the flexspline's fatigue strength. Under overload conditions, the material's toughness deformation maximally protects the entire mechanical structure from damage.

Ultra-Fine Dense ADI Material
* We produce ultra-fine dense ADI (Austempered Ductile Iron) material by using hollow continuous casting spherical iron profiles followed by isothermal quenching. Its features include:
1. Self-lubricating
2. Low temperature rise
3. Shock absorption and noise reduction
4. Wide operating temperature range
5. Long service life

Ultra-Precision Heat Treatment Process
* After years of technical accumulation in material heat treatment, we have identified the balance change law between hardness and toughness — two factors affecting fatigue strength of harmonic drives. By combining stress concentration after machining and stress relief before machining, we formulated a complete heat treatment process which has been fully implemented in mass production.

Special Flexspline Processing Technology
* We invented a post-deformation finishing machining method for flexspline tooth profiles. Under the premise of ensuring precision, this method solves the problem of uneven contact in traditional steel flexsplines, enabling fuller tooth surface engagement, more uniform force distribution, reduced friction, and enhanced product durability.

Innovative S-Tooth Profile Design
* In collaboration with the Deep-Sea Silent Transmission Laboratory of a leading university, we conducted research on smoothing friction transmission and reducing tooth-cutting friction coefficients, leading to the invention of the S-shaped harmonic tooth profile theory. By integrating kinematics, tribology, and lubrication science, we developed simulation software capable of automatically generating S-shaped curves.

Independent Tool Design and Development
* We creatively developed an integrated composite tool combining front cutting and rear pressing for harmonic gear processing. This breakthrough overcomes the market gap caused by the manufacturing difficulties of tools for micro harmonic reducers, resulting in a uniquely industry-leading series of micro harmonic reducer products.

Harmonic Drive Testing Laboratory
* We have partnered with universities and government quality inspection bureaus to establish China's first comprehensive performance testing platform for harmonic reducers. This platform covers lifetime, accuracy, starting torque, torsional stiffness, load capacity, and other aspects, providing comprehensive quality assurance throughout the harmonic product development process and solid experimental data for all development stages.

Ultra-Micro Cross-Roller Bearings
* The production of miniature cross-roller bearings differs from conventional models. Our research and design of an embedded separated channel structure perfectly addresses the current market gap in ultra-small raceway grinding machines. Through structural design, we have technically and procedurally solved the challenges of ultra-small processing in channel grinding machines.

Ultra-Micro Flexure Bearings
* The manufacturing process of miniature flexure bearings, due to their small outer diameter and thin structure, cannot follow the conventional segmented processing methods used for standard bearings. To minimize dimensional chain errors and deformation caused by multiple clamping steps, a composite processing method is required that produces finished products in a single setup.
* We have collaborated with the technical team from a well-known Chinese bearing research institute to enhance a small precision composite machining center by adding capabilities for raceway grinding and laser heat treatment. This enables a one-stop process flow—from turning → heat treatment → grinding → ultra-precision raceway finishing—in a single setup, efficiently solving the manufacturing challenges of ultra-small flexure bearings.

Packing List:
* 1 x Harmonic Gear Reducer
    
Packaging Details:
* Weight: 0.2kg

Note:
* Grease and adhesive are not included in the package.

Reducer Installation and Precautions:
* Inject grease into the inner wall space of the flexspline. Install the reducer onto the output shaft, and fasten it with screws plus spring washers for preload. The tightening sequence should be in a crosswise (criss-cross) pattern, with a preload torque of 0.5N·m.
* Evenly apply grease on the flexure bearing, then install the wave generator into the bearings of the flexspline and output shaft. When installing the wave generator, please pay special attention to keeping center offset and tilt to a minimum to reduce the impact of eccentricity. Avoid applying excessive force on the wave generator's bearing area; the wave generator can be smoothly inserted by gently rotating it. After installation, gently rotate the wave generator by hand. It is considered normal if it rotates smoothly under average force. If there is noticeable unevenness, it indicates asymmetric meshing; in this case, remove and reinstall the wave generator.
* Apply Loctite 638 adhesive to the key on the input shaft, then insert the shaft into the wave generator. Use screws and spring washers to connect and preload the input end to the reducer. The tightening sequence should follow a crosswise (criss-cross) pattern, with a preload torque of 0.5N·m. Set the motor speed to approximately 100RPM and start the motor. Tighten the screws in a crosswise manner in four to five equal increments until the screws reach their specified tightening torque (refer to the torque values in the table). All screws used for connection and fastening must be grade 12.9 and coated with thread locker to prevent loosening or failure during operation.
* While keeping the motor rotating, tighten the screws on the output end in a crosswise pattern, also in four to five equal increments up to the specified tightening torque (refer to the torque values in the table). Again, all fastening screws must be grade 12.9 and coated with thread locker to avoid loosening or failure. The recommended thread locker is Loctite 243.


Precautions:
1. If the reducer's output end is always facing horizontally downward during use, the grease injected into the inner wall space of the flexspline must exceed the meshing tooth surface.
2. Static seals must be applied between the mounting surfaces of the rigid spline and its connecting parts, as well as between the flexspline and its connecting parts, to ensure grease does not leak during reducer operation and to prevent damage caused by insufficient or no lubrication.
3. During installation, do not strike reducer parts with hard objects or apply excessive force to avoid part damage.
4. If you encounter any issues during installation, please contact us.