Harmonic Drive LLC- Operating Principles & types of Harmonic Drive and

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Harmonic Drive Gearing Principles The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: Harmonic Drive Gearing Inve TTosales@electromate.co • Walt Musser - Prolific Inventor - HDG Patent 1957 - www.waltmusser.org T TE O98 99 m

PowerPoint Presentation: 

Sold & Serviced By: Harmonic Drive Gearing Principles ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Harmonic Drive Gearing Princ TTosales@electromate.com998 Three Gearing Components Form the Basis of the Product Line Assembles and Operates Concentrically Circular Spline Flexspline Wave Generator T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE VO98 099 Harmonic Drive Gearing Princi TTosales@electromate.c m om Wave Generator Elliptical Steel Plug Special Ball Bearing is Pressed Around Plug - Forms Elliptical Bearing Wave Generator The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ATE VO98 Harmonic Drive Gearing Princi TToll Free Faxe(877) SERV099 www.electromate.com sales@electromate.com Flexspline Steel Cup - Thin Walled: Radially Compliant - Large Diameter: Torsionally Stiff Teeth on Outer Rim of Cup - Rim (teeth) Conforms to Elliptical Shape of Bearing Flexspline T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Harmonic Drive Gearing Princi TTosales@electromate.com Circular Spline Rigid Circular Ring with Teeth on ID - Has 2 Teeth More Than Flexspline Teeth of Circular Spline and Flexspline Engage in two regions - Ellipse Inscribed in a Circle Circular Spline T 98 9

PowerPoint Presentation: 

Sold & Serviced By: Harmonic Drive Gearing Principles ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ATE VO98 Harmonic Drive Gearing Princi TToll Free Faxe(877) SERV 099 www.electromate.com sales@electromate.com Rated Torque, Rated Speed: Define Rated Life of Wave Generator Bearing Rated Torque @Rated Speed = Rated Life (50,000 hr.) Average Torque, Average Speed Affect Lubricant Life Repeated Peak Torque Maximum Torque Over Typical Operating Cycle -Unlimited # of Cycles Momentary Peak Torque For Emergency Stop The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ATE VO98 Harmonic Drive Gearing Princi TToll Free Faxe(877) SERV 099 www.electromate.com sales@electromate.com Flexspline Achieves Infinite Life Endurance Limit of Steel Safety Factor Flexspline Stress @Repeated Peak Torque # Cycles 10 6 10 7 10 8 10 9 T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 Robust Design Wave Generator Bearing Life L 10 Finite Fatigue Life S-N Curve for Steel Infinite Fatigue Life # Wave Generator Revolutions www.electromate.com sales@electromate.com Buckling Torque Ratcheting Torque Momentary Torque Peak Torque Rated Torque ( Reference = 1 ) T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Benefits The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Benefits Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com High Positional Accuracy (30 arc-sec) T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Benefits Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com 30 arc-sec (0.5 arc-min) Positional Accuracy 27.72 arc-sec 1 Wave Generator Revolution = 2 Cycles T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Benefits High Gear Ratio - Single Stage, In-line Configuration - 30:1 to 160:1 in a Single Stage - Compact - Geometry is independent of Gear Ratio - Example for 100:1 - # Flexspline teeth: 200 - # Circular Spline teeth: 202 Ratio = 200 / (200 - 202) = -100 Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Benefits Smooth Motion Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com - High Positional Accuracy Provides Smooth Motion Velocity Ripple ~ d/dt (Position Error) Vibration ~ d 2 /dt 2 (Position Error) - Torque is distributed on many teeth - Up to 30% of teeth are always in contact - Load Transfer from Tooth to Tooth is smooth The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Benefits +/- 5 arc-sec Repeatability Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: Benefits Zero Backlash ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com - Teeth are engaged on both sides of the tooth flank Low Lost Motion (1 arc-min) - Lost Motion Includes Backlash (= 0), Stiffness, and Hysteresis The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Benefits Low Lost Motion: 1 arc-min (typical) - Well Documented Test Procedure Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: Benefits No Backlash Creep ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com - Continuous Compensation for Wear - High Performance is Maintained No Backlash Creep @2x10 9 Rev. Stays Far Below 1 arc-min T

PowerPoint Presentation: 

Sold & Serviced By: Benefits ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Harmonic Drive Gearing Enables a Higher Servo Response than Direct Drive 1. Zero-Backlash 2. High Gear Ratio (low reflected inertia) 3. High Accuracy / Repeatability ¾ Allows Servo Gain to be Increased The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Design Innovation & Reliability The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Design Innovation “S” Tooth : Optimized tooth profile designed to match movement of gear teeth Conventional Tooth Profile Patented “S” Tooth The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Design Innovation “S” Tooth Design Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Doubles the Region of Tooth Engagement The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 Design Innovation “S” Tooth Design 2x Tooth Engagement 2x Torque Capacity www.electromate.com sales@electromate.com 2x Tooth Engagement 2x Tooth Engagement 2x Torsional Stiffness W/G Bearing Load is Distributed More Evenly, Yielding 2.3x W/G Life The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Design Innovation Patented “S” tooth 30:1 to 160:1 Gear Ratios Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Ultra Flat Component Sets, Gearheads, Actuators 100% 60% 30% HDUC-type CSF-type CSD-type R&D Investment To Retain Technical Leadership The Leader in Precision Motion

PowerPoint Presentation: 

Design Innovation CSD “Ultra Flat” Volume vs. Rated Torque Advantage 1.0E-03 CS CSF CSD 1.0E-04 1.0E-05 10 100 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com 1000 Rated Torque (Nm)

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Design Innovation CSD “Ultra Flat” Mass vs. Rated Torque Advantage 10 CS CSF CSD 1 0.1 10 100 Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com 1000 Rated Torque (Nm) T

PowerPoint Presentation: 

Sold & Serviced By: Reliability Products are Rigorously Tested ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: Reliability Typical MTBF Values • Wave Generator Bearing is the Largest Contributor • At Rated Conditions: 45,000 hrs • At 50% of Rated Torque: 360,000 hrs ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Types of Products The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Harmonic Drive Component TTosales@electromate.com998 Cup Type - CSF,CSD, HDE Silk Hat - SHF Pancake - HDUF, HDUR - 1:1 The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Harmonic Drive Gearheads CSF-2UH SHF-2UH CSF-mini T

PowerPoint Presentation: 

Sold & Serviced By: Mini Gearheads Harmonic Drive Gearheads Zero Backlash Gear Ratios: 30:1 to 160:1 4 Point Contact Output Bearing Compact ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com T

PowerPoint Presentation: 

Sold & Serviced By: Input: Motor Mount Output: Flange Input: Motor Mount Output: Shaft Input: Shaft Output: Shaft Mini Gearheads ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Harmonic Drive Gearheads Zero Backlash Gear Ratios: 50:1 to 160:1 High Moment Capacity Easy to Use T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Harmonic Drive Gearheads 5 Sizes: 14, 20, 32, 45, 65 5 Gear Ratio: 50:1, 80:1, 100:1, 120:1, 160:1 Dimensions are the Same as HPG Cross Roller Clamp Bearing Coupling T

PowerPoint Presentation: 

Sold & Serviced By: Product Matrix Complementary Product Lines 8400 2100 Quick Connect CSF-GH Series ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Harmonic Rated Torque (in-lbs) 53 2 5 Planetary HPG Series Mini Gearheads CSF-Mini Series 30 4550 100 Gear Ratio 120 160 The Leader in Not To Scale (R:1) Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE e Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com (Actuator: Motor + Gearhead + Encoder) FHA Hollow Shaft Actuator New FHA-mini • Compact • Accurate New FHA-mini The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com s@electromate.com sale Harmonic Drive Actuators RH-mini RS-mini RHS RFS The Leader in recision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Design Guidelines (Gearheads) Easy Assembly Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com - Assemble Wave Generator and Adapter to Motor - Assemble to Gearhead Consider Axial Force of Wave Generator on Motor Shaft, “Walking Force” - Check Motor Shaft Axial Load Rating T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Design Guidelines (Component Sets) 1) Concentricity (Shaft, CS, Housing) 7) Axial Location of FS 2) Grease or Oil (Drain) 8) Air Vent for Oil Lubrication Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com 3) Concentricity (FS, Shaft) 4) Clamp Ring for FS 5) Shaft Seal 6) Bearing Support for output shaft 9) Perpendicularity/Parallelism (CS, FS, Shaft) 10) Axial Restraint for WG 11) Oil Fill (if necessary) 12) Bearing Support for input shaft T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Application Examples The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: Applications ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Applications Mars Global Surveyor SMA (Scan Mirror Assembly) Mars Exploration Rover (MER) Wheel Drive (x6) Wheel Steering (x4) Robotic Arm (x3) PanCam Mast Assembly (x4) High Gain Antenna (x2) Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Mast (x2) Camera (x2) Robotic Arm (x3) Drive Actuator Applications Mars Exploration Rover Harmonic Drive Wheel Drive (x6) Wheel Steering(x4) Steering Actuator Drive Strut Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Antenna(x2) The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: Applications Industrial Robots ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: Applications Robot Hand Axes ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Applications SCARA Robot The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Applications Woodworking Machine Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Globalstar Applications Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Solar Array Drive SIRIUS (CD Radio) Solar Array Drive Deep Impact Comet Exploration Azimuth and Elevation T

PowerPoint Presentation: 

Sold & Serviced By: Applications Solar Array Drive For Satellites ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com T

PowerPoint Presentation: 

Sold & Serviced By: Sensor Pod Applications ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Azimuth and Elevation Azimuth and Elevation The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Military vehicles Applications Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Weapon Bay Turret Mine Plow for M1 Tank Lift Mechanism The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: Applications ASIMO by Honda Prosthetic Hand ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Applications 747 On-Board Cargo Systems Power Drive Units Submersible Vehicle Fin Actuator Pan & Tilt Actuator Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Applications F-35 Joint Strike Fighter Force Feedback for Active Stick Corporate Jet Engine Synchronization Throttle Control Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 Applications Secure Mobile Anti-Jam Reliable Tactical Terminal (SMART-T) Azimuth and Elevation www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: Applications AN/PSC-11 Several Channel Anti-Jam Man Portable (SCAMP) Azimuth and Elevation Telemetry Azimuth and Elevation ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Applications Azimuth and Elevation Obstacle Avoidance Radar Azimuth and Elevation Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com T

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Applications Autonomous Vehicle RADAR 1x FHA-17 Steering 1x RFS-25 Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Gimbal 3x FHA-17 The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Conclusion Harmonic Drive Gearing - Zero Backlash - High Accuracy & Repeatability - Enables High Servo Stiffness - High Reliability The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com mate.com NEW Harmonic Planetar sales@electro HPG Series The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 ww.electromate.com sales@electromate.com Benefits of Harmonic Drive Gearing High Positional Accuracy Low Lost Motion Smooth Motion + Benefits of Planetary Gearing Low Gear Ratios Quick-Connect Coupling = Harmonic Planetary ® The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 Proven Design www.electromate.com sales@electromate.com Planetary gearheads produced since 1990 40% Market Share in Japan Over 120,000 units sold since 1995 Continual product improvement HP-A, HP-B, HP-C HPG is the 4th generation The Leader in Precision Motion

PowerPoint Presentation: 

Innovative Ring Gear for optimize Sold & Serviced By: o ELEC TROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 distribution and backlash less than 1 arcmin for the life of the gearhead Ring Gear “Eliminate Backlash Creep with the www.electromate.com sales@electromate.com Harmonic Planetary ” The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 Large Cross-Roller Bearing for High Loads and Smooth, Precise Motion Integral Cross Roller Bearing www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 Convenient Output Configurations Flange or Bolt-on Shaft Output Flange output is ideal for turntable applications www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Easy Mounting to Any Motor Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Motor Adapter Flange Quick-Connect Coupling with Balanced Pinion The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 Product Overview 4 Frame Sizes: 60, 90, 120, 170mm Ratios: 5, 11, 21, 33, 45 3 Arc-Min Backlash Standard 1 Arc-Min Low Backlash Option Maximum Input Speed 6000 rpm for 60 & 90mm frame 4500 rpm for 120 & 170mm frame www.electromate.com sales@electromate.com The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: HPG Torque Specs ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Rated Torque is based on 23% Higher L 10 Bearing Life=20,000 hrs. Continuous Duty Sinusoidal Load The Leader in Precision Motion

PowerPoint Presentation: 

Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com HPG vs. Competitors Harmonic Planetary ® has: Lower Lost Motion No Backlash Creep Better Positional Accuracy Higher Efficiency The Leader in Precision Motion