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CompaniesAgility Robotics FormFactor Cardinal Group IXIAN Robotics Munari ZINOVA Labs Physical Intelligence Leju Robotics

HardwareJetson Orin Nano RealSense D455 ESP32-P4

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Harmonic Drive Systems · Reduce · Industrial

Harmonic Drive CSF

Cup strain-wave component set

Typical $900–4,000

Functions

Reducer

Cup strain-wave component set. Wrist and cobot default. Ratio 30–160. Hysteresis 1–2.5 arcmin. Flexspline is SNCM439 / 40CrNiMoA class steel, wall <1 mm. Grease SK-2 (≤sz17, lithium + Mo EP) or SK-1A (≥sz20). Rated 0.9–137 Nm on common sizes.

Do not

Zero-backlash in the catalog is tooth preload, not zero lost motion. Do not fill with random EP2 grease.

Derivative cells

Harmonic Drive CSG-2UH — Housed CSF with a crossed-roller output
Harmonic Drive SHD — Silk-hat hollow strain-wave
Harmonic Drive FHA-17C — Integrated harmonic actuator

Compatible (7)

Elmo Gold TwitterSame stack
Six-axis industrial arm
Harmonic Drive CSG-2UHSame family
Harmonic Drive family
Harmonic Drive FHA-17CKnown pair
Called out as a known pair
Harmonic Drive SHDSame family
Harmonic Drive family
Jetson AGX OrinKnown pair
Called out as a known pair
Nabtesco RV-ESame stack
Six-axis industrial arm
NXP i.MX 8M PlusKnown pair
Called out as a known pair

Stacks that use this

Six-axis industrial arm
RV on the base, harmonic on the wrist. That is the actual BOM, not a Pi and a servo.

Buy

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