Harmonic Drive FR-2 Heavy-Duty Pancake Component Sets
Harmonic Drive FR-2 Heavy-Duty Pancake Component Sets
FR-2 is a heavy-duty pancake strain-wave gearing component set built around four elements: wave generator, flexspline, circular spline and dynamic spline. Its double wave-generator bearing and wider tooth arrangement distinguish it from the lighter-duty FB concept. FR is described as low backlash, with finite backlash entries in its tables; it should not inherit a blanket zero-backlash claim from other Harmonic Drive families.
Review Summary
Consider FR when a flat component-level transmission and high reduction suit a custom mechanical design. The OEM must provide the surrounding housing, load support and drive system. Select from the exact size-and-ratio ratings, including backlash and duty limits, rather than treating heavy-duty as an unlimited overload capability.
Construction Four-element pancake strain-wave component set Elements Wave generator, flexspline, circular spline and dynamic spline Heavy-duty feature Double wave-generator bearing; wider tooth engagement described by manufacturer Conventional output member Dynamic spline when the circular spline is fixed and wave generator is input FR-14-100-2-GR 7.8 Nm rated L10; 13.7 Nm repeated peak; 19.6 Nm momentary peak; 0.2 kg FR-20-100-2-GR 40 Nm rated L10; 53 Nm repeated peak; 94 Nm momentary peak; 0.5 kg Backlash in the above examples Less than 1.5 arcmin; finite backlash specification Ratio availability Family includes non-round ratios; exact size-and-ratio menu applies Supplied scope Gearing components; OEM housing, machine-load support, motor and drive Price Request a quote for exact FR size, ratio, installation and lubrication scope Applications and Industries
Custom flat rotary mechanisms, high-reduction axes and integrated machine transmissions
Industrial automation
Request a quote for the exact configuration,quantity and delivery schedule.
| Construction | Four-element pancake strain-wave component set |
| Elements | Wave generator, flexspline, circular spline and dynamic spline |
| Heavy-duty feature | Double wave-generator bearing; wider tooth engagement described by manufacturer |
| Conventional output member | Dynamic spline when the circular spline is fixed and wave generator is input |
| FR-14-100-2-GR | 7.8 Nm rated L10; 13.7 Nm repeated peak; 19.6 Nm momentary peak; 0.2 kg |
| FR-20-100-2-GR | 40 Nm rated L10; 53 Nm repeated peak; 94 Nm momentary peak; 0.5 kg |
| Backlash in the above examples | Less than 1.5 arcmin; finite backlash specification |
| Ratio availability | Family includes non-round ratios; exact size-and-ratio menu applies |
| Supplied scope | Gearing components; OEM housing, machine-load support, motor and drive |
| Price | Request a quote for exact FR size, ratio, installation and lubrication scope |
