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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=""> <a href="/technology">Technology</a> </li> <li class="active"> Harmonic Planetary® </li> </ol> </div> <div class="container hd-content-minheight"> <div class="row"> <div class="col-md-2"> <ul class="nav nav-pills nav-stacked hidden-sm hidden-xs"> <li class=""> <a href="/technology/harmonicdrive">HarmonicDrive®</a> </li> <li class="active"> <a href="/technology/harmonic-planetary">Harmonic Planetary®</a> <ul> <li class=""> <a href="/technology/harmonic-planetary/hpg-hpgp">HPG & HPGP</a> </li> <li class=""> <a href="/technology/harmonic-planetary/hpn">HPN</a> </li> </ul> </li> <li class=""> <a href="/technology/product-type-advantages">Product Type - Advantages</a> </li> <li class=""> <a href="/technology/inventor-c-walton-musser">Inventor, C. Walton Musser</a> </li> <li class=""> <a href="/technology/installation-considerations">Installation Considerations</a> </li> <li class=""> <a href="/technology/application-examples">Application Examples</a> </li> <li class=""> <a href="/technology/videos">Videos</a> </li> </ul> </div> <div class="col-md-10"> <h1></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/1677/harmonicplanetary-logotight.jpg" alt="undefined" rel="4002" /></p> </div> </div> </div> </div> </div> <div > <div class='container'> <div class="row clearfix"> <div class="col-md-6 column"> <div > <h3>Planetary Gear Principle</h3> <p>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 rel="noopener" href="https://www.youtube.com/watch?v=sO1FhoUPjiE" data-popup="youtube"><img id="__mcenew" src="/media/3169/planetary-video.jpg?width=298&height=169" alt="Harmonic Planetary" width="298" height="169" data-udi="umb://media/92d957723f1c40e183ecee6b7733259a" /></a></h5> <h4><strong>Click <a href="/products/servo-mount-gearheads" title="Servo Mount Gearheads">here</a>聽to see our Planetary Gearboxes聽</strong></h4> </div> </div> <div class="col-md-6 column"> <div > <p><img id="__mcenew" src="/nothing.jpg" alt="" data-udi="umb://media/f3bfbe37c3354ee4aa7a6d0a39b6c0d5" /><img id="__mcenew" src="/nothing.jpg" alt="" data-udi="umb://media/f3bfbe37c3354ee4aa7a6d0a39b6c0d5" /><img id="__mcenew" src="/media/2362/planetary-gear-image.png?width=240&height=228" alt="" width="240" height="228" data-udi="umb://media/21a4ac4545fe4d2a9d89371e154a787d" /></p> <p>聽</p> </div> </div> </div> </div> </div> <div > <div class='container'> <div class="row clearfix"> <div class="col-md-12 column"> <div > <h3>Operating Diagram聽</h3> <p><img id="__mcenew" src="/media/1681/operating-principle-1w.jpg?width=798&height=444" alt="undefined" width="798" height="444" data-udi="umb://media/c2ab9b85c6424ea5963c1d0ef928b0cc" /></p> <h1></h1> </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> <div > <div class='container'> <div class="row clearfix"> <div class="col-md-12 column"> <div > <h4 style="text-align: center;">Harmonic Drive has two forms of planetary gears the <a href="http://www.harmonicdrivegearhead.com/technology/harmonic-planetary/hpn" title="HPN">HPN Series</a> and the <a href="http://www.harmonicdrivegearhead.com/technology/harmonic-planetary/hpg-hpgp" title="HPG & HPGP">HPG / HPGP Series</a> Harmonic Planetary gearheads</h4> </div> </div> </div> </div> </div> </div> </div> <div class="hd-content-area"> <p> </p> <table border="0" style="width: 100%; border-collapse: collapse;"> <tbody> <tr> <td style="width: 100%;"> </td> </tr> </tbody> </table> <p><a data-udi="umb://document/8d1fe10dd6ee4551ac62b8bf1aaa982e" href="/gearhead-selector-tool" title="Gearhead Selector Tool"><img style="width: 500px; height: 278.958px; display: block; margin-left: auto; margin-right: auto;" src="/media/2969/gearhead-selector-tool.jpg?width=500&height=278.95833333333337" alt="Gearhead Selector Tool" data-udi="umb://media/e568988fa03c4be6962728bf2eeeed49" /></a></p> </div> </div> <br /> </div> </div> </div> </div> <div class="hd-footer hidden-print navbar-default"> <div class="container"> <div class="row"> <div class="col-sm-4"> <h4><a href="/about-us">About Us</a></h4> <p><a href="/about-us/us-locations">US Locations</a><br /> <a href="/about-us/harmonic-drive-group-companies">Group Companies</a><br /> <a href="/about-us/quality-certification">Quality Certification</a><br /> <a href="/careers">Employment</a><br /> <a href="/about-us/privacy-policy">Privacy Policy</a><br /> <a href="/about-us/terms-and-conditions-sale">Terms & Conditions of Sale</a><br /> <a href="/about-us/terms-of-use">Terms of Use</a><br /> <a href="/about-us/contact-us">Contact Us</a></p> </div> <div class="col-sm-4"> <h4><a href="/products">Products</a></h4> <p><a href="/products/rotary-actuators">Rotary Actuators</a><br /> <a href="/products/gear-units">Gear Units</a><br /> <a href="/products/component-sets">Component Sets</a><br /> <a href="/products/servo-mount-gearheads">Servo Gearheads</a><br /> <a href="/products/phase-adjusters">Phase Adjusters</a><br /> <a href="/products/linear-actuators">Linear Actuators</a><br /> <a href="/products/servo-drives">Servo Drives</a><br /> <a href="/products/legacy-products">Legacy Products</a></p> </div> <div class="col-sm-3"> <h4><a href="/technology">Technology</a></h4> <p><a href="/technology">Harmonic</a><br /> <a href="/technology/harmonic-planetary">Harmonic Planetary</a><br /> <a href="/gearhead-selector-tool">Gearhead Selector</a><br /> <a href="/products/gear-units/table-finder">Gear Units Selector</a><br /> <a href="/products/component-sets/table-finder">Component Sets Selector</a><br /> <a href="/downloads">Downloads</a></p> 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</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'].$error.required">Required</span></label> <input type="text" class="form-control" name="requestByName" ng-model="d.requestByName" ng-required="!isLoggedIn" /></div> <div class="form-group"> <label 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hd-error-text-sm" ng-show="inquiryForm['requestByEmail'].$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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