1. Shape of the flex spline
HM is short for harmonic drive company PICEA Motion
Flexsplines' shapes are divided into cup and hat, “C” refers to the cup and “H” refers to the hat.
Flexsplines' lengths are divided into standard and dwarf, “S” refers to a standard, and “D” refers to the dwarf.
2. Model refers to the corresponding harmonic reducer pitch diameter
3. The ratios are usually 30, 50, 80, 100, 120 etc.
4. The structure of harmonic gear reducer is divided into two categories: cup type and hat type, as shown in the following table:
