Harmonic Drive LLC | 42 Dunham Ridge, Beverly, MA 01915 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.

Series Size Version Ratio Type
HPF 32 A 11 U1

• Hollow Shaft Structure

• Coaxial input and output shafts

• Cross Roller Output Bearing

• Backlash < 3 arc-min

• The precision HPF planetary gear is also available in our SHA Series Hollow Shaft Brushless Actuators as a standard product

**Drawing does not include modified features for mounting the selected motor.

Gear Model Number
Gear Dimensions (see drawing)
Flange Dim A - Motor Adapter Flange Bore Dia. {{foundMotor.flangeDimA}} mm
Flange Dim B - Motor Adapter Flange Bore Depth {{foundMotor.flangeDimB}} mm
Motor Dim C - Motor Bolt Circle Dia. {{foundMotor.dimC}} mm
Flange Dim D - Bolt Size {{foundMotor.flangeDimD}}
Coupling Dim F - Motor Coupling Bore Dia. {{foundMotor.couplingDimF}} mm
Mass kg
Gear Performance Data
Rated Torque L10 100 Nm
Starting Torque 75 Ncm
Backdriving Torque 8.3 Nm
Max. Input Speed 4,800 rpm
Ave. Input Speed 3,000 rpm
Standard Accuracy 4 arc min
Gear Backlash < 3 arc min
Input Inertia 3.84 kg-cm^2
Mass 7.2 kg
Torsional Stiffness
K1 11.73 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.11 m
Basic Dynamic Rated Load (C) 225 10^2 N
Basic Static Rated Load (Co) 399 10^2 N
Allowable Moment Load (Mc) 932 Nm
Moment Stiffness (Km) 86.1 10^4 Nm / rad
Permissible Radial Load 2,640 N
Permissible Axial Load 3,940 N


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