Harmonic Drive® strain wave gear - zero backlash | Harmonic Drive

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Walton Musser</a> </li> <li> <a href="/technology/installation-considerations">Installation Considerations</a> </li> <li> <a href="/technology/application-examples">Application Examples</a> </li> <li> <a href="/technology/videos">Videos</a> <ul class="dropdown-menu hd-menu-lvl3"> <li> <a href="/technology/videos/harmonic-gearing">Harmonic Gearing</a> </li> <li> <a href="/technology/videos/harmonic-planetary-gearing">Harmonic Planetary Gearing</a> </li> </ul> </li> </ul> </li> <li class="hd-sep hidden-sm hidden-xs">|</li> <li class="hidden-sm hidden-xs"> <a class="hd-search-icon" href="#search" data-func="toggleSearch"> <i class="glyphicon glyphicon-search"></i> </a> <div class="hd-search-wrapper"> <form method="get" action="/search" role="search"> <input type="text" name="s" id="s" class="form-control" placeholder="Search"> </form> </div> </li> <li class="visible-xs"> <form method="get" action="/search" role="search"> <input type="text" name="s" id="s" class="form-control" placeholder="Search" style="margin-left: 10px; width: 90%;"> </form> </li> </ul> </div> </div> </div> <div class="container visible-print"> <div class="row"> <div class="col-xs-2"> <img src="/_hd/theme/images/logo.gif" /> </div> <div class="col-xs-10"> <small> <p><strong>Harmonic Drive LLC | 42 Dunham Ridge, Beverly, MA 01915 | 800-921-3332</strong><br /><span>Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive.</span></p> </small> </div> </div> <hr /> </div> <div class="hd-content-main hd-content-minheight"> <div class="container hidden-print hidden-xs hd-breadcrumb-container"> <ol class="breadcrumb"> <li class=""> <a href="/">Home</a> </li> <li class="active"> Technology </li> </ol> </div> <div class="container hd-content-minheight"> <div class="row"> <div class="col-md-12"> <h1>Harmonic Gear</h1> <div class=""> <div class="umb-grid"> <div class="grid-section"> <div > <div class='container'> <div class="row clearfix"> <div class="col-md-12 column"> <div > <p><img id="__mcenew" src="/media/3164/harmonicdrivestylized_cyan.jpg" alt="Harmonic Drive" data-udi="umb://media/04a70b8a0bf64a91805b3dc30b6cdd40" /></p> </div> </div> </div> </div> </div> <div > <div class='container'> <div class="row clearfix"> <div class="col-md-6 column"> <div > <h3>Strain Wave Gear Principle</h3> <p><span>Harmonic Drive庐 strain wave gearing utilizes a unique operating principle which is based upon the elastic mechanics of metals. The greatest benefits are the zero-backlash characteristics and the weight and space savings compared to other gears because our gear mechanism consists of only three basic parts. They are the: </span><span>Wave Generator</span><span>, </span><span>Flexspline聽</span><span>and </span><span>Circular Spline</span><span>.聽</span></p> <p><span>This simple three element construction combined with the unique operating principle allows extremely high聽reduction ratio in a very compact and lightweight package. Neither the size nor weight of the gear vary with the reduction ratio. The high performance attributes聽of this gearing technology including </span><span>zero backlash</span><span>, high torque, compact size, excellent positional聽accuracy and repeatability are all a direct result of the unique operating principle.</span></p> <div> <p>聽</p> <p>聽</p> <h4><strong>Click <a href="/products" title="Products">here</a>聽to see our full product lineup.</strong></h4> </div> <div> <p>聽</p> </div> </div> </div> <div class="col-md-6 column"> <div > <p><a rel="noopener" href="https://www.youtube.com/watch?v=3mWemlMEzFk" target="_blank"><img id="__mcenew" style="display: block; margin-left: auto; margin-right: auto;" src="/media/1458/blow-out-gears.jpg?width=365&height=219" alt="" width="365" height="219" data-udi="umb://media/c560be0fd88d42368f3f2758cdf6cbf5" /></a></p> <h4 style="text-align: center;"><strong><a href="https://www.youtube.com/watch?v=3mWemlMEzFk" data-popup="youtube">How Harmonic Gearing Works</a></strong></h4> <h4><a href="https://www.youtube.com/watch?v=3mWemlMEzFk"><img id="__mcenew" style="display: block; margin-left: auto; margin-right: auto;" src="/media/3004/capture-harmonic-play.png" alt="" data-udi="umb://media/82035c018d78407a95456feabe9bea6f" /></a></h4> </div> </div> </div> </div> </div> <div > <div class='container'> <div class="row clearfix"> <div class="col-md-12 column"> <div > <p>聽</p> <p>聽</p> <h4><span style="text-decoration: underline;">The Components</span></h4> </div> </div> </div> </div> </div> <div > <div class='container'> <div class="row clearfix"> <div class="col-md-4 column"> <div > <h4><span>聽聽聽Wave Generator</span></h4> <h4><img id="__mcenew" src="/media/1530/w_g_image3_jpg.jpg?width=174px&height=201px" alt="undefined" width="174" height="201" rel="3736" /></h4> <p>聽</p> <p>The Wave Generator is comprised of a specially designed thin raced ball bearing that is fitted onto an elliptical hub. This serves as a high efficiency torque converter and is used as the input of the gear and is connected to the motor shaft.聽The outer surface of the Wave Generator plug has an elliptical shape that is carefully machined to a precise specification.聽The Wave Generator is typically used as the input, usually attached to a servo motor.</p> </div> </div> <div class="col-md-4 column"> <div > <h4 style="text-align: left;"><span>聽聽聽聽聽聽聽Flexspline</span></h4> <p>聽聽<img id="__mcenew" src="/media/1531/flexspline_jpg.jpg?width=213px&height=199px" alt="undefined" width="213" height="199" rel="3735" /></p> <p>聽</p> <p>The Flexspline is a thin cylindrical cup made from alloy steel with external teeth on聽the open end of the cup. The Flexspline is radially compliant but torsionally is very stiff. When the Wave Generator in inserted into the Flexspline the gear takes on its elliptical shape. The Flexspline is used as the output and is connected to the output flange.</p> <p><em>Note: Although the steel Flexspline flexes during normal operation, there is no concern about fatigue failure. The stresses developed are far below the endurance limit of the material. Thus the Flexspline will achieve infinite life when used according to catalog ratings.</em></p> </div> </div> <div class="col-md-4 column"> <div > <h4 style="text-align: left;"><span>聽聽聽聽聽聽聽聽 Circular Spline</span></h4> <h4><span><img id="__mcenew" src="/media/1066/ring.jpg?width=227px&height=194px" alt="undefined" width="227" height="194" rel="1183" /></span></h4> <p>聽</p> <p>The Circular Spline is a rigid ring with internal teeth. When the gear is assembled it engages the聽teeth of the Flexspline across the major axis of the Wave Generator聽ellipse. This engagement is like an ellipse inscribed concentrically within a circle. Mathematically, an inscribed ellipse will contact a circle at two points. However, the gear teeth have a finite height. So there are actually two regions (instead of two points) of tooth engagement. The Circular Spline has two more teeth than the Flexspline聽and is fixed to the gear housing.</p> </div> </div> </div> </div> </div> <div > <div class='container'> <div class="row clearfix"> <div class="col-md-12 column"> <div > <h4><img id="__mcenew" src="/media/1476/whiteonly.jpg?width=307px&height=48px" alt="undefined" width="307" height="48" rel="3634" /></h4> <h4><span style="text-decoration: underline;">How it Works</span></h4> <p style="text-align: left;">Below is an exaggerated two-dimensional diagram demonstrating how the three gear elements engage and rotate.</p> <p style="text-align: left;">The Flexspline is slightly smaller in聽diameter and has two fewer teeth than the Circular Spline. The elliptical聽shape of the Wave Generator causes聽the teeth of the Flexspline to engage聽the Circular Spline at two opposite聽regions across the major axis of the聽ellipse. 聽For every 180 degree聽clockwise rotation of the聽Wave Generator the Flexspline teeth are advanced counterclockwise by聽one tooth in relation to the聽Circular Spline. Each complete clockwise聽rotation of the Wave Generator聽results in the Flexspline moving聽counter-clockwise by two teeth聽from its original position relative聽to the Circular Spline. Because the gear teeth are always fully engaged in a region along the major axis, Harmonic Drive庐 strain wave gearheads have Zero Backlash.</p> <p><span class="pull-right">聽</span></p> <p><span class="pull-right"></span><img id="__mcenew" style="float: left;" src="/media/1483/rotatecallouts.png?width=419px&height=256px" alt="undefined" width="419" height="256" rel="3644" /></p> <p><img id="__mcenew" src="/media/2659/operating-principle2.jpg" alt="" data-udi="umb://media/13a57c6134ef4f2e9a310fe1b5e522c6" /></p> <table border="0" width="100%" height="140" style="height: 50px; width: 100%; margin-left: auto; margin-right: auto;"> <tbody> <tr style="height: 20px;"> <td style="text-align: center; height: 20px;">聽</td> </tr> <tr style="height: 374px;"> <td style="text-align: center; height: 374px;"> <h4 style="text-align: left;"><span style="text-decoration: underline;"><span>Superior Gear Performance Using an S Tooth Design</span></span></h4> <p style="text-align: left;">Harmonic Drive developed a unique gear tooth profile that optimizes the gear tooth engagement. It has a special curved surface unique to the S tooth profile that allows continuous contact with the tooth profile. It also alleviates the concentration of stress by widening the width of the tooth groove against the gear tooth thickness and enlarging the radius on the bottom. This tooth profile enables up to 30% of the total number of teeth to simultaneously. Additionally the large tooth root radius increases the tooth strength compared with an involute tooth. This聽technological innovation results聽in high torque, high torsional聽stiffness, long life and smooth聽rotation.</p> <p>聽</p> <table border="0" style="margin-left: auto; margin-right: auto;"> <tbody> <tr> <td><img id="__mcenew" src="/media/1534/tform.gif?width=290px&height=160px" alt="undefined" width="290" height="160" rel="3750" /></td> <td><img id="__mcenew" src="/media/1451/s-tooth.jpg?width=231px&height=175px" alt="undefined" width="231" height="175" rel="3444" />聽</td> <td><img id="__mcenew" src="/media/1527/fig2a.gif?width=186px&height=175px" alt="undefined" width="186" height="175" rel="3731" /></td> </tr> <tr> <td>聽</td> <td>聽</td> <td>聽</td> </tr> </tbody> </table> </td> </tr> <tr style="height: 177px;"> <td style="text-align: center; height: 177px;"><img id="__mcenew" style="float: left;" src="/media/3165/harmonicplanetary-logo-cyan.jpg" alt="" data-udi="umb://media/fff3dd6ce8144c7cbae9f75c9f909a1e" /> <p style="text-align: left;">聽</p> </td> </tr> <tr style="height: 576px;"> <td style="text-align: center; height: 576px;"> <h4 style="text-align: left;">Planetary Gear Principle</h4> <div class="col-md-6 column" style="text-align: left;"> <p style="text-align: left;">Planetary gears have simultaneous meshing between the sun gear and planet gears and聽between the planet gears and the internal gear. The sun gear is connected to the motor and a carrier, supporting the planet gears, is connected to the output. Single stage planetary gears can achieve reduction ratios up to 10:1. Ratios above 10:1 utilize a two stage design where the carrier of the first stage drives the sun gear of the second planetary stage. 聽</p> <h5><a href="https://www.youtube.com/watch?v=sO1FhoUPjiE"><img id="__mcenew" src="/media/3169/planetary-video.jpg?width=330&height=187" alt="" width="330" height="187" data-udi="umb://media/92d957723f1c40e183ecee6b7733259a" /></a></h5> <h4><strong>Click<span>聽</span><a href="/products/servo-mount-gearheads" title="Servo Mount Gearheads">here</a>聽to see our Planetary Gearboxes聽</strong></h4> </div> <div class="col-md-6 column"> <p><img id="__mcenew" style="float: left;" class="img-responsive" src="/nothing.jpg" alt="" data-udi="umb://media/f3bfbe37c3354ee4aa7a6d0a39b6c0d5" /><img id="__mcenew" style="float: left;" class="img-responsive" src="/nothing.jpg" alt="" data-udi="umb://media/f3bfbe37c3354ee4aa7a6d0a39b6c0d5" /></p> </div> <div> <div class="container"> <div class="row clearfix"> <div class="col-md-12 column"> <div> <p>聽</p> </div> </div> </div> </div> </div> <div> <div class="container"> <div class="row clearfix"> <div class="col-md-6 column"> <div></div> </div> </div> </div> </div> </td> </tr> <tr style="height: 708px;"> <td style="height: 708px;"> <div> <div class="container"> <div class="row clearfix"> <div class="col-md-12 column"> <div> <h4>Harmonic Planetary Operating Diagram聽</h4> <p><a data-udi="umb://media/c2ab9b85c6424ea5963c1d0ef928b0cc" href="/media/1681/operating-principle-1w.jpg" title="Operating-Principle-1W.jpg"><img id="__mcenew" style="display: block; margin-left: auto; margin-right: auto;" class="img-responsive" src="/media/1681/operating-principle-1w.jpg?width=798&height=444" alt="undefined" width="798" height="444" data-udi="umb://media/c2ab9b85c6424ea5963c1d0ef928b0cc" /></a></p> </div> </div> </div> </div> </div> <div> <div class="container"> <div class="row clearfix"> <div class="col-md-6 column"> <div> <h4>First Stage</h4> <p>Rotation of the input pinion transfers revolution motion to the first-stage聽planet gears that mesh with it. The motion is then transferred to聽the first-stage carrier through the planetary shaft to the second-stage聽pinion.</p> <p>The direction of rotation of the first stage carrier is the same as the input pinion.</p> </div> </div> <div class="col-md-6 column"> <div> <h4>Second Stage</h4> <p>The second-stage pinion gear is driven by the first-stage carrier and聽provides the input to the second-stage planet gears. Similar to the first-stage, the rotation is then transferred to the聽second-stage carrier. The second stage carrier serves as the output of the gearhead.</p> <p>The direction of rotation of the second stage carrier is the same as the input pinon.</p> </div> </div> </div> </div> </div> </td> </tr> <tr style="height: 20px;"> <td style="height: 20px;">聽</td> </tr> <tr style="height: 139px;"> <td style="height: 139px;"><br /> <div> <div class="container"> <div class="row clearfix"> <div class="col-md-12 column"> <h4><span>聽</span><a href="http://www.harmonicdrivegearhead.com/technology/harmonic-planetary/hpn" title="HPN">HPN Series聽聽<img id="__mcenew" src="/media/3167/hpn-button.jpg?width=116&height=106" alt="HPN Planetary" width="116" height="106" data-udi="umb://media/af0333568161400c8e5dea38143b6464" /></a>聽聽聽聽聽聽聽<a href="http://www.harmonicdrivegearhead.com/technology/harmonic-planetary/hpg-hpgp" title="HPG & HPGP">HPG / HPGP Series</a> <a data-udi="umb://document/eb22305523b54bd0bbfcd8c288f2dc50" href="/technology/harmonic-planetary/hpg-hpgp" title="HPG & HPGP"><img id="__mcenew" src="/media/3166/hpg-button.jpg?width=115&height=105" alt="HPG Planetary" width="115" height="105" data-udi="umb://media/7afed29b56ff4514ab883137b0f66ea0" /></a></h4> </div> </div> </div> </div> </td> </tr> <tr style="height: 20px;"> <td style="height: 20px;">聽</td> </tr> <tr style="height: 84px;"> <td style="height: 84px;">聽 <h4><strong><a href="https://www.youtube.com/watch?v=3mWemlMEzFk" data-popup="youtube">How Harmonic Gearing Works</a></strong></h4> <h4><a href="https://www.youtube.com/watch?v=3mWemlMEzFk"><img id="__mcenew" src="/media/3004/capture-harmonic-play.png" alt="" data-udi="umb://media/82035c018d78407a95456feabe9bea6f" /></a></h4> </td> </tr> </tbody> </table> </div> </div> </div> </div> </div> <div > <div class='container'> <div class="row clearfix"> <div class="col-md-12 column"> <div > <h4><strong><a href="/about-us/contact-us" title="Contact Us">Contact us</a> if you have any questions or would like more information. 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class="hd-form-init"> <div ng-show="!result.success"> <p>Signup for an account below:</p> <div class="form-group"> <label for="email">Email <span class="required">*</span></label> <span class="hd-error-text hd-error-text-sm" ng-show="signupForm['email'].$error.required">Required</span> <span class="hd-error-text hd-error-text-sm" ng-show="signupForm['email'].$error.email">Invalid Email</span> <input type="email" class="form-control" name="email" ng-model="d.email" required /> </div> <div class="row"> <div class="col-xs-6"> <div class="form-group"> <label for="firstname">First Name <span class="required">*</span></label> <span class="hd-error-text hd-error-text-sm" ng-show="signupForm['firstname'].$error.required">Required</span> <input type="text" class="form-control" name="firstname" ng-model="d.firstname" required /> </div> </div> <div class="col-xs-6"> <div class="form-group"> <label for="lastname">Last Name <span class="required">*</span></label> <span class="hd-error-text hd-error-text-sm" ng-show="signupForm['lastname'].$error.required">Required</span> <input type="text" class="form-control" name="lastname" ng-model="d.lastname" required /> </div> </div> </div> <div class="row"> <div class="col-xs-6"> <div class="form-group"> <label for="company">Company <span class="required">*</span></label> <span class="hd-error-text hd-error-text-sm" ng-show="signupForm['company'].$error.required">Required</span> <input type="text" class="form-control" name="company" ng-model="d.company" required /> </div> </div> <div class="col-xs-6"> </div> </div> <div class="row"> <div class="col-xs-6"> <div class="form-group"> <label for="company">State/Province <span class="required">*</span></label> <span class="hd-error-text hd-error-text-sm" ng-show="signupForm['state'].$error.required">Required</span> <select type="text" class="form-control" name="state" ng-model="d.state" ng-options="x.Description for x in addressComponents.States" required> <option value="">-- Please select a State/Province --</option> </select> </div> </div> <div class="col-xs-6" ng-show="hasCounties(d.state)"> <div class="form-group"> <label for="company">County <span class="required">*</span></label> <span class="hd-error-text hd-error-text-sm" ng-show="signupForm['county'].$error.required">Required</span> <select type="text" class="form-control" name="county" ng-model="d.county" ng-options="x.Description for x in getCounties(d.state)" ng-required="hasCounties(d.state)"> <option value="">-- Please select a County --</option> </select> </div> </div> </div> <div class="row"> <div class="col-xs-6"> <div class="form-group"> <label for="company">Country <span class="required">*</span></label> <span class="hd-error-text hd-error-text-sm" ng-show="signupForm['country'].$error.required">Required</span> <input type="text" class="form-control" name="country" ng-model="d.country" required /> </div> </div> </div> <div class="row"> <div class="col-xs-6"> <div class="form-group"> <label for="password">Password <span class="required">*</span></label> <span class="hd-error-text hd-error-text-sm" ng-show="signupForm['password'].$error.required">Required</span> <input type="password" class="form-control" name="password" ng-model="d.password" required /> </div> </div> <div class="col-xs-6"> <div class="form-group"> <label for="passwordconfirm">Retype Password <span class="required">*</span></label> <span class="hd-error-text hd-error-text-sm" ng-show="signupForm['passwordconfirm'].$error.required">Required</span> <span class="hd-error-text hd-error-text-sm" ng-show="signupForm['passwordconfirm'].$error.equals">Passwords must match</span> <input type="password" class="form-control" name="passwordconfirm" ng-model="d.passwordconfirm" equals="{{d.password}}" required /> </div> </div> </div> <div class="row" ng-if="d.state.StateId === 'NONUS'"> <div class="col-xs-12"> <div class="checkbox"> <label> <input type="checkbox" name="optinmailing" ng-model="d.optInMailing"> Opt in for future mails </label> </div> </div> </div> <div class="hidden"> <input type="text" name="checkThis" /> </div> <div class="form-group"> <button class="btn btn-primary" ng-click="submit(d)" data-track-event="Register">Register</button> <span class="hd-error-text"> {{validation.txt}} </span> </div> <div class="well hidden"> Master: {{validation}}<br /> Result: {{result}} </div> </div> <div ng-show="result.success"> <h3>Thank you for signing up</h3> <p>Please check your email to confirm your account.</p> </div> </form> </div> </div> </div> </div> </div>  <div class="modal fade" data-modal-id="rfq"> <div class="modal-dialog"> <div class="modal-content"> <div class="modal-header"> <button type="button" class="close" data-dismiss="modal"><span aria-hidden="true">×</span><span class="sr-only">Close</span></button> <h4 class="modal-title">Request for Quote</h4> </div> <div class="modal-body"> <div ng-controller="ProductRFQController"> <form novalidate name="rfqForm" class="hd-form-init"> <h4>Your information</h4> <div class="row"> <div class="col-sm-6"> <div class="form-group"> <label for="city">City <span class="required">*</span> </label> <span class="hd-error-text hd-error-text-sm" ng-show="rfqForm['city'].$error.required">Required</span> <input type="text" class="form-control" name="city" ng-model="model.city" required /> </div> </div> <div class="col-sm-6"> <div class="form-group"> <label for="state">State <span class="required">*</span> </label> <span class="hd-error-text hd-error-text-sm" ng-show="rfqForm['state'].$error.required">Required</span> <select class="form-control" name="state" ng-model="model.state" required> <option>MA</option> <option>NH</option> </select> </div> </div> </div> <div class="row"> <div class="col-sm-6"> <div class="form-group"> <label for="zip">Zip <span class="required">*</span> </label> <span class="hd-error-text hd-error-text-sm" ng-show="rfqForm['zip'].$error.required">Required</span> <input type="text" class="form-control" name="zip" ng-model="model.zip" required /> </div> </div> <div class="col-sm-6"> <div class="form-group"> <label for="country">Country <span class="required">*</span> </label> <span class="hd-error-text hd-error-text-sm" ng-show="rfqForm['country'].$error.required">Required</span> <select class="form-control" name="country" ng-model="model.country" required> <option>US</option> <option>MX</option> </select> </div> </div> </div> <div class="form-group"> <label for="phone">Phone <span class="required">*</span> </label> <span class="hd-error-text hd-error-text-sm" ng-show="rfqForm['phone'].$error.required">Required</span> <input type="text" class="form-control" name="phone" ng-model="model.phone" required /> </div> <div class="form-group"> <label for="howheard">How did you hear about us? <span class="required">*</span> </label> <span class="hd-error-text hd-error-text-sm" ng-show="rfqForm['howheard'].$error.required">Required</span> <select class="form-control" name="howheard" ng-model="model.howheard" required> <option></option> <option>Internet</option> <option>Magazine</option> </select> </div> <h4>Part information</h4> <div class="form-group"> <label for="productInfo"> Part #/Comments <span class="required">*</span> </label> <span class="hd-error-text hd-error-text-sm" ng-show="rfqForm['productInfo'].$error.required">Required</span> <textarea rows="4" class="form-control" name="productInfo" ng-model="model.productInfo" required></textarea> </div> <div class="form-group"> <label for="quantity">Quantity <span class="required">*</span> </label> <span class="hd-error-text hd-error-text-sm" ng-show="rfqForm['quantity'].$error.required">Required</span> <input type="text" class="form-control" name="quantity" ng-model="model.quantity" required /> </div> <div class="form-group"> <label for="application">Application <span class="required">*</span> </label> <span class="hd-error-text hd-error-text-sm" ng-show="rfqForm['application'].$error.required">Required</span> <input type="text" class="form-control" name="application" ng-model="model.application" required /> </div> <div class="form-group"> <label for="timeframe">Time Frame <span class="required">*</span> </label> <span class="hd-error-text hd-error-text-sm" ng-show="rfqForm['timeframe'].$error.required">Required</span> <select class="form-control" name="timeframe" ng-model="model.timeframe" required> <option></option> <option>Month</option> <option>2-3 Months</option> <option>Yesterday</option> </select> </div> <p> <strong><em>By submitting this form you are accepting to communications from HDLLC</em></strong> </p> <div class="form-group"> <button class="btn btn-primary" ng-click="submit(model)">Submit</button> <span class="hd-error-text"> {{validation.txt}} </span> <br /> </div> <div class="well"> Master: {{validation | json}}<br /> Result: {{result | json}} </div> </form> </div> </div> </div> </div> </div>  <div class="modal fade" data-modal-id="inquiryForm"> <div class="modal-dialog"> <div class="modal-content"> <div class="modal-header"> <button type="button" class="close" data-dismiss="modal"><span aria-hidden="true">×</span><span class="sr-only">Close</span></button> <h4 class="modal-title">Inquiry</h4> </div> <div class="modal-body"> <div class="row" ng-controller="InquiryController"> <form novalidate name="inquiryForm" class="hd-form-init"> <div class="col-md-12"> <div ng-show="!isSubmitted"> <div ng-show="!isLoggedIn"> <div class="row"> <div class="col-sm-6"> <div class="form-group"> <label for="requestByName">Name:<span class="required" ng-show="!isLoggedIn">*</span> <span class="hd-error-text hd-error-text-sm" ng-show="inquiryForm['requestByName'].$error.required">Required</span></label> <input type="text" class="form-control" name="requestByName" ng-model="d.requestByName" ng-required="!isLoggedIn" /></div> <div class="form-group"> <label for="requestByCompany">Company:<span class="required" ng-show="!isLoggedIn">*</span> <span class="hd-error-text hd-error-text-sm" ng-show="inquiryForm['requestByCompany'].$error.required">Required</span></label> <input type="text" class="form-control" name="requestByCompany" ng-model="d.requestByCompany" ng-required="!isLoggedIn" /></div> </div> <div class="col-sm-6"> <div class="form-group"> <label for="requestByPhone">Phone:<span class="required" ng-show="!isLoggedIn">*</span> <span class="hd-error-text hd-error-text-sm" ng-show="inquiryForm['requestByPhone'].$error.required">Required</span></label> <input type="text" class="form-control" name="requestByPhone" ng-model="d.requestByPhone" ng-required="!isLoggedIn" /></div> <div class="form-group"> <label for="requestByEmail">Email Address:<span class="required" ng-show="!isLoggedIn">*</span> <span class="hd-error-text hd-error-text-sm" ng-show="inquiryForm['requestByEmail'].$error.required">Required</span><span class="hd-error-text hd-error-text-sm" ng-show="inquiryForm['requestByEmail'].$error.email">Invalid Email</span></label> <input type="email" class="form-control" name="requestByEmail" ng-model="d.requestByEmail" ng-required="!isLoggedIn" /></div> </div> </div> <br /> </div> <div ng-show="inquiryType == 2"> <div class="row"> <div class="col-sm-6"> <div class="form-group"> <label for="motorMfg">Mfg #:<span class="required" ng-show="inquiryType == 2">*</span> <span class="hd-error-text hd-error-text-sm" ng-show="inquiryForm['motorMfg'].$error.required">Required</span></label> <input type="text" class="form-control" name="motorMfg" ng-model="d.motorMfg" ng-required="inquiryType == 2" /></div> </div> <div class="col-sm-6"> <div class="form-group"> <label for="motorModel">Model/Series:<span class="required" ng-show="inquiryType == 2">*</span> <span class="hd-error-text hd-error-text-sm" ng-show="inquiryForm['motorModel'].$error.required">Required</span></label> <input type="text" class="form-control" name="motorModel" ng-model="d.motorModel" ng-required="inquiryType == 2" /></div> </div> </div> <div class="form-group"> <label for="itemId">Gear ratio/information:</label> <input type="text" class="form-control" name="itemId" ng-model="d.itemId" /></div> </div> <div class="form-group"> <label for="inquiryText">{{ inquiryType == 2 ? 'Additional information' : 'Enter your question/comment' }}:<span class="required" ng-show="!(inquiryType == 2)">*</span> <span class="hd-error-text hd-error-text-sm" ng-show="inquiryForm['inquiryText'].$error.required">Required</span></label> <textarea class="form-control" rows="6" name="inquiryText" ng-model="d.inquiryText" ng-required="!(inquiryType == 2)"></textarea></div> <br /> <div class="hidden"> <input type="text" name="checkThis" /> </div> <p> <strong><em>By submitting this form you are accepting to communications from HDLLC</em></strong> </p> <div class="form-group"> <button class="btn btn-lg btn-primary" ng-click="submit(d)">Submit Inquiry</button> <br /> <span class="hd-error-text">{{validationSummary}}</span> </div> </div> <div ng-show="isSubmitted"> <p>Thank you for submitting this form, we will get back to you soon.</p> </div> </div> </form> </div> </div> </div> </div> </div> <div class="hd-flyout hidden-print" data-flyout> <div class="hd-flyout-tab"> <p>Contact</p> <span class="glyphicon glyphicon-earphone hd-flyout-tab-icon"></span> </div> <div class="hd-flyout-content"> <h4>Contact Us</h4> <p><a href="#" class="btn btn-primary" data-func="open-inquiry">Submit a Question</a></p> <p><span> <em><a href="mailto:info@harmonicdrive.net?subject=Questions Regarding Harmonic Drive Products">info@harmonicdrive.net</a></em></span></p> <p>or<br />Call: 978-532-1800</p> <p>Hours 8:00am - 5:00pm EST<br />Monday through Friday</p> </div> </div> <div class="cookie-accept" data-cookie-accept-container> <div class="container"> <div class="row"> <div class="col-md-8 content"> <p>This site uses cookies to provide you with more responsive and personalized service. By using this site you agree the <a data-udi="umb://document/b0de9d80dfe34933a1da65c3187093ee" href="http://www.harmonicdrivegearhead.com/about-us/privacy-policy" title="Privacy Policy">Privacy Policy</a> and <a data-udi="umb://document/7b04cad7c184402b856b5b374e51aed5" href="http://www.harmonicdrivegearhead.com/about-us/terms-of-use" title="Terms of Use">Terms of Service</a>. 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