CSD Harmonic Drive Gearbox 7 Powerful Advantages

CSD Harmonic Drive Gearbox– Compact, High-Precision, Zero-Backlash Solution

Product Overview

The combination-type CSD harmonic drive gearbox is engineered for applications requiring ultra-compact dimensions, high positional accuracy, and exceptional torque capacity within a lightweight, space-saving design. As industries move toward more integrated, high-density automation—especially in robotics, aerospace, semiconductor machinery, and precision manufacturing—the demand for smaller yet more capable motion transmission systems continues to rise. The CSD Series responds to this trend with a highly optimized structure emphasizing minimal size, hollow construction, and strong load-handling performance on the output side.

Unlike conventional gear systems that rely on bulky and heavy mechanical components, this CSD harmonic drive gearbox uses elastic deformation principles and wave generation technology to achieve zero-backlash performance, smooth rotational transmission, and high torque in an ultra-flat form factor. The design is especially effective where system thickness must be minimized, such as robotic joints, gimbal systems, medical robotics, AGV/AMR drive modules, and compact CNC positioning mechanisms.

With its refined shape and advanced material selection, the CSD harmonic drive gearbox retains the core excellence of traditional harmonic drives while pushing boundaries for the next generation of lightweight motion systems. It also offers a hollow center design that simplifies cable routing, data line protection, and integration with sensors or rotary electrical interfaces, making it significantly more adaptable for modern electromechanical systems. Combined with improved output-side bearing load capacity, this series delivers durability and performance that align with global industry leaders and advanced mechatronic standards.

Key Features

Ultra-Compact, Simplified Design
The CSD harmonic drive gearbox emphasizes minimal thickness and reduced overall mass, supporting modern applications requiring compact motion modules. Its lightweight construction allows integration into systems where every millimeter matters—such as collaborative robots, small servomotors, or lightweight end-effectors.
Hollow-Shaft Construction
A defining advantage of this series is its through-hole (hollow) design, enabling users to route:
power cables;
pneumatic lines;
cooling pipes;
sensor wires;
encoder or feedback lines.
This makes it ideal for robotics and automation systems where clean cable routing is critical.
High Static Torque Capacity
Thanks to optimized flexspline geometry and advanced material hardening, the CSD harmonic drive gearbox delivers:
high torque-to-weight ratio;
strong overload endurance;
low heat generation;
stable long-term operation.
It excels in applications requiring high torque output within tight installation spaces.
Zero Backlash (Near-Zero Lost Motion)
Harmonic drive technology is naturally suited for precision motion. The CSD harmonic drive gearbox provides near-zero backlash, extremely high repeat positioning accuracy, and excellent smoothness—qualities that traditional planetary gearboxes cannot match.
Improved Output-Side Bearing Load Capacity
The internal bearing design has been strengthened to support greater axial and radial forces. This means the load can be applied directly on the output flange without requiring additional external support mechanisms.

Size	Ratio	Rated Torque (Nm)	Rated Torque (kgf·m)	Limit for Repeated Peak Torque (Nm)	Limit for Repeated Peak Torque (kgf·m)	Limit for Average Torque (Nm)	Limit for Average Torque (kgf·m)	Limit for Momentary Peak Torque (Nm)	Limit for Momentary Peak Torque (kgf·m)	Maximum Input Speed (rpm)	Limit for Average Input Speed (rpm)	Moment of Inertia (×10⁻⁴ kg·m²)	Moment of Inertia (×10⁻⁵ kgf·m·s²)
14	50	3.7	0.38	12	1.2	4.8	0.49	24	2.4	8500	3500	0.021	0.021
14	100	5.4	0.55	19	1.9	7.7	0.79	35	3.6	8500	3500	0.021	0.021
17	50	11	1.1	23	2.3	18	1.9	48	4.9	7300	3500	0.054	0.055
17	100	16	1.6	37	3.8	27	2.8	71	7.2	7300	3500	0.054	0.055
20	50	17	1.7	39	4.0	24	2.4	69	7.0	6500	3500	0.090	0.092
20	100	28	2.9	57	5.8	34	3.5	95	9.7	6500	3500	0.090	0.092
20	160	28	2.9	64	6.5	34	3.5	95	9.7	6500	3500	0.090	0.092
25	50	27	2.8	69	7.0	38	3.9	127	13	5600	3500	0.282	0.288
25	100	47	4.8	110	11	75	7.6	184	19	5600	3500	0.282	0.288
25	160	47	4.8	123	13	75	7.6	204	21	5600	3500	0.282	0.288
32	50	53	5.4	151	15	75	7.6	268	27	4800	3500	1.09	1.11
32	100	96	10	233	24	151	15	420	43	4800	3500	1.09	1.11
32	160	96	10	261	27	151	15	445	45	4800	3500	1.09	1.11
40	50	96	10	281	29	137	14	480	49	4000	3000	2.95	2.91
40	100	185	19	398	41	260	27	700	71	4000	3000	2.95	2.91
40	160	206	21	453	46	316	32	765	78	4000	3000	2.95	2.91
50	50	172	18	500	51	247	25	1000	102	3500	2500	8.61	8.78
50	100	329	34	288	70	466	48	1400	142	3500	2500	8.61	8.78
50	160	370	38	823	84	590	60	1715	175	3500	2500	8.61	8.78

Size	Ratio	Rated Torque (Nm)	Rated Torque (kgf·m)	Limit for Repeated Peak Torque (Nm)	Limit for Repeated Peak Torque (kgf·m)	Limit for Average Torque (Nm)	Limit for Average Torque (kgf·m)	Limit for Momentary Peak Torque (Nm)	Limit for Momentary Peak Torque (kgf·m)	Maximum Input Speed (rpm)	Limit for Average Input Speed (rpm)	Moment of Inertia (×10⁻⁴ kg·m²)	Moment of Inertia (×10⁻⁵ kgf·m·s²)
14	50	3.7	0.38	12	1.2	4.8	0.49	24	2.4	8500	3500	0.021	0.021
14	100	5.4	0.55	19	1.9	7.7	0.79	35	3.6	8500	3500	0.021	0.021
17	50	11	1.1	23	2.3	18	1.9	48	4.9	7300	3500	0.054	0.055
17	100	16	1.6	37	3.8	27	2.8	71	7.2	7300	3500	0.054	0.055
20	50	17	1.7	39	4.0	24	2.4	69	7.0	6500	3500	0.090	0.092
20	100	28	2.9	57	5.8	34	3.5	95	9.7	6500	3500	0.090	0.092
20	160	28	2.9	64	6.5	34	3.5	95	9.7	6500	3500	0.090	0.092
25	50	27	2.8	69	7.0	38	3.9	127	13	5600	3500	0.282	0.288
25	100	47	4.8	110	11	75	7.6	184	19	5600	3500	0.282	0.288
25	160	47	4.8	123	13	75	7.6	204	21	5600	3500	0.282	0.288
32	50	53	5.4	151	15	75	7.6	268	27	4800	3500	1.09	1.11
32	100	96	10	233	24	151	15	420	43	4800	3500	1.09	1.11
32	160	96	10	261	27	151	15	445	45	4800	3500	1.09	1.11
40	50	96	10	281	29	137	14	480	49	4000	3000	2.85	2.91
40	100	185	19	398	41	260	27	700	71	4000	3000	2.85	2.91
40	160	206	21	453	46	316	32	765	78	4000	3000	2.85	2.91

Ratio	Size 14	Size 17	Size 20	Size 25	Size 32	Size 40	Size 50
50	4.4	6.7	8.9	16	32	55	102
100	2.8	3.8	5.1	9.1	20	32	60
160	—	—	3.9	7.2	15	26	47

Ratio	Size 14	Size 17	Size 20	Size 25	Size 32	Size 40	Size 50
50	5.3	7.5	9.7	17	34	58	—
100	3.2	4.2	5.5	9.6	21	33	—
160	—	—	4.1	7.4	16	27	—

Ratio	Size 14	Size 17	Size 20	Size 25	Size 32	Size 40	Size 50
50	2.9	4.7	5.2	9.5	19	33	61
100	3.5	4.6	6.0	11	23	38	71
160	—	—	7.4	13	30	48	89

Ratio	Size 14	Size 17	Size 20	Size 25	Size 32	Size 40	Size 50
50	3.3	4.7	5.8	10	20	34	—
100	3.9	5.0	6.4	11	24	39	—
160	—	—	7.8	14	31	49	—

Ratio	Size 14	Size 17	Size 20	Size 25	Size 32	Size 40	Size 50
50	88	150	220	450	980	1800	3700
100	84	160	260	500	1000	2100	4100
160	—	—	220	450	980	1800	3600

Reduction Ratio	Item	Unit	Size 14	Size 17	Size 20	Size 25	Size 32	Size 40	Size 50
–	T₁	N·m	2.0	3.9	7.0	14	29	54	108
–	T₁	kgf·m	0.2	0.4	0.7	1.4	3.0	5.5	11
–	T₂	N·m	6.9	12	25	48	108	196	382
–	T₂	kgf·m	0.7	1.2	2.5	4.9	11	20	39
50	K₁	×10⁻⁴ N·m/rad	0.29	0.67	1.1	2.0	4.7	8.8	17
50	K₁	×10⁻⁴ kgf·m/rad	0.085	0.2	0.32	0.6	1.4	2.6	5.0
50	K₂	×10⁻⁴ N·m/rad	0.37	0.88	1.3	2.7	6.1	11	21
50	K₂	×10⁻⁴ kgf·m/rad	0.11	0.26	0.4	0.8	1.8	3.4	6.3
50	K₃	×10⁻⁴ N·m/rad	0.47	1.2	2.0	3.7	8.4	15	30
50	K₃	×10⁻⁴ kgf·m/rad	0.14	0.34	0.6	1.1	2.5	4.5	9.0
50	θ₁	×10⁻⁴ rad	6.9	5.8	6.4	7.0	6.2	6.1	6.4
50	θ₁	arc min	2.4	2.0	2.2	2.4	2.1	2.1	2.2
50	θ₂	×10⁻⁴ rad	19	14	19	18	18	18	18
50	θ₂	arc min	6.4	4.6	6.6	6.1	6.1	5.9	6.2
100 or more	K₁	×10⁻⁴ N·m/rad	0.4	0.84	1.3	2.7	6.1	11	21
100 or more	K₁	×10⁻⁴ kgf·m/rad	0.12	0.25	0.4	0.8	1.8	3.2	6.3
100 or more	K₂	×10⁻⁴ N·m/rad	0.44	0.94	1.7	3.7	7.8	14	29
100 or more	K₂	×10⁻⁴ kgf·m/rad	0.13	0.28	0.5	1.1	2.3	4.2	8.5
100 or more	K₃	×10⁻⁴ N·m/rad	0.61	1.3	2.5	4.7	11	20	37
100 or more	K₃	×10⁻⁴ kgf·m/rad	0.18	0.39	0.75	1.4	3.3	5.8	11
100 or more	θ₁	×10⁻⁴ rad	5.0	4.6	5.4	5.2	4.8	4.9	5.1
100 or more	θ₁	arc min	1.7	1.6	1.8	1.8	1.7	1.7	1.7
100 or more	θ₂	×10⁻⁴ rad	16	13	15	13	14	14	13
100 or more	θ₂	arc min	5.4	4.3	5.0	4.5	4.8	4.8	4.6

CSD Series Harmonic Drive Catalogue (PDF)

CSD Dimensional Drawings

Mounting Instructions & Torque Curves

Material Specifications & Performance Charts

Applications

Robotics – Industrial & Collaborative: The CSD harmonic drive gearbox is widely used in: robotic arms; humanoid robots; SCARA and delta robots; robotic wrists and joints. Its compact design fits perfectly into joint housings requiring very thin harmonic drive assemblies. Robotics standards from companies like Mitsubishi Electric, Yaskawa, and Siemens often rely on zero-backlash drives such as harmonic mechanisms for precision motion.
Semiconductor & LCD Manufacturing Equipment: High-precision, vibration-free rotation is essential for: wafer handling systems; lithography stages; inspection platforms; dispensing and alignment stations. The zero-backlash characteristic allows for accurate, micro-level positional control.
Aerospace & Defense Systems: Applications include: UAV gimbals; satellite control mechanisms; targeting systems; lightweight actuator modules. The combination of low weight and high precision aligns well with aerospace design principles recognized by institutions such as NASA.
CNC Machinery, Indexing Tables & Precision Rotary Axes: this harmonic drive can be used in CNC accessories, especially: tool changers; rotary positioning axes; feed positioning units; micro-incremental rotational systems. Its backlash-free performance enhances CNC contouring accuracy, something traditional gear reducers often struggle to maintain.
Medical Equipment: The compact and smooth motion makes it suitable for: surgical robots; imaging positioning modules; micro-manipulation tools.

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Product Overview

Key Features

Technical Information

Applications

Contact Us

Request a quote or technical consultation for the CSD harmonic drive gearbox

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