Product Description

Precision Transmission CSF Series Strain Wave Gear Reducer for Industrial Robot

Product Description

The strain wave gear reducer of CSF series have a standard cup-shaped flexspline, the input shaft is matched with the inner hole of wave generator through flat key’s coupling which has a function of certain self-alignment. Mainly used in medical equipment, semiconductor manufacturing device, energy related device, precision optical instrument, metal working machine, communication equipment, industrial robot, photovoltaic device.

Characteristics of Strain Wave Gear Transmission:

1.High Precision: The multi-tooth is meshing at the 2 positions which are 180° from each other at the same time, so that the effluence on transmission accuracy due to gear pitch error and the cumulative pitch error can be balanced and reach to extremely high transmission accuracy.
2.Transmission ratio: a single-stage strain wave gear transmission ratio can reach to 30~500.
3.Load carrying capacity: the meshing area as well as the number of teeth at engage stage is large, so load which is divided on each tooth, could be smaller accordingly, while the overall load could be very large.
4.Size & weight: comparing with the conventional gear device, it has the features of miniaturization and light-weight.
5.Transmission efficiency: the transmission efficiency of strain wave gear reducer can reach to 70%~85%.
6.Smooth gearing, non-impact, and lower noise.

How to Read
Z  CSF – 32 – 120 – 2UH – AB – 002
a     b      c       d        e       f       g

a    Z: CZPT Leader
b     Structure of Flexspline            SHF: Standard Hat Type
           SHD: Super Flat Hat Type
           CSG: High-torque Cup Type
           SHG: High-torque Hat Type
           CSF: Standard Cup Type
           CSD: Super Flat Cup Type
c     Model Code There are 5 Models: 14, 17, 20, 25, 32. The code value multiplied by 2.54 is approximately equal to the diameter of the corresponding type of reducer.
d     Reduction Ratio Currently there are 4 ratios: 1:50,1: 80, 1:100, 1:120.
e     Structures of Reducer            2UH: Standard Unit Type
           2UJ: Shaft Input Type
           2UF: Flat Hollow Shaft Type
           2SO: Flat Type
           2SH: Flat Hollow Shaft Type
f    Customer Code
g    Serial number

For example: ZSHF-25-100-2SH: CZPT Leader made strain wave reducer, Standard Hat type of 25 size, reduction ratio 1:100, flat hollow shaft type.


Model Reduction ratio Rated torque at 2000 r/min Permissible CZPT torque of starting/stopping Permissible max. value of ave. load torque Instantaneous Permissible max. torque Permissible max. input rotational speed Permissible ave. input rotational speed Inertia moment Life in design
(N.m) (N.m) (N.m) (N.m) (r/min) (r/min) 10-4kgm2) (h)
14 50 5.4 18 6.9 35 8500 3500 0.033 10000
80 7.8 23 11 47
100 7.8 28 11 54
17 50 16 34 26 70 7300 3500 0.079 10000
80 22 43 27 87
100 24 54 39 108
20 50 25 56 34 98 6500 3500 0.193 10000
80 34 74 47 127
100 40 82 49 147
120 40 87 49 147
25 50 39 98 55 186 5600 3500 0.413 10000
80 63 137 87 255
100 67 157 108 284
120 67 167 108 304
32 50 76 216 108 382 4800 3500 1.690 10000
80 118 304 167 568
100 137 333 216 647
120 137 353 216 686

Dimensions(Unit: mm):

Note: The engagement length of bolt should be less than the depth of internal thread. ΦS represent the shape of the through hole which leads to the inside of the product. The shape of the output flange will be different according to different models of reducers. For details of dimensions, please confirm the delivered outline drawing with reducer.

Specification Table

· Specification with * mark: The B, D, t, u indicate the mounting positions in the shaft direction and allowance of the 3 parts–wave.
· generator, flexspline, circular spline. Strictly follow the requirement of these specifications as they affect the performance and intensity.
· The dimension tolerances are existing according to different manufacturing methods.
· The wave generator is packed separately when the product is delivered.

Detailed Photos

The strain wave gear device is mainly composed of 3 basic parts, namely, wave generator, flexspline and circular spline. It can better meet the needs of miniaturization and lightweight.

Wave Generator: The wave generator is a thin raced ball bearing fitted CZPT an elliptical hub serving as a high efficiency torque converter and generally mounted onto the input shaft.

Flexspline: The Flexspline is a flexible, thin cylindrical cup with external teeth. The bottom of flexspline is called diaphragm and generally mounted CZPT the output shaft.

Circular Spline: The circular spline is a rigid ring with internal teeth, engaging the teeth of the flexspline across the major axis of the Wave Generator. The circular spline has 2 more teeth than the flexspline and is generally mounted CZPT housing.


Other Models of Strain Wave Gear Reducer

More products,please click here…


Customized Process

Range of Customization

· Minor changes based on conventional products
  (For example: output shaft size, mounting hole, power, mounting flange within the acceptable range)
· New product evaluation and development
  (Mold fee, product demand parameters, project cycle, product quantity, etc. will be necessary )
Δ Note: Customized products can not be changed and returned.

Company Profile


Warranty Period and Terms

1.Warranty Period: Under the conditions that the products are handled, used and maintained properly followed each item of the technical manuals and this catalog, all the products are warranted against defects in workmanship and materials for the shorter period of either 1 year after its delivery or 2,000 hours of operation time.

2.Warranty Terms: All the products are warranted against defects in workmanship and materials for the warranted period. This limited warranted does not apply to any product that has been subject to:
· User’s misapplication, improper installation, inadequate maintenance, or misuse;
· Disassembling, modification or repair by others than ZD;
· Imperfection caused by the other products;
· Natural disasters or others that do not belong to the responsibilities of ZD.

Our liability shall be limited exclusively to repairing or replacing the product only found by ZD to be defective. ZD shall not be liable for consequential damages of other equipment caused by the defective products, and shell not be liable for the incidental and consequential expenses and the labor costs for detaching and installing to the driven equipment.


Q: What’re your main products?
A: We currently produce Brushed DC Motors, Brushed DC Gear Motors, Planetary DC Gear Motors, Brushless DC Motors, AC Motors, High Precision Planetary Gearbox and Precision Cycloidal Gearbox etc.. You can check the specifications for above motors on our website and you can email us to recommend needed motors per your specification too.

Q: How to select a suitable motor or gearbox?
A:If you have motor pictures or drawings to show us, or you have detailed specifications, such as, voltage, speed, torque, motor size, working mode of the motor, needed lifetime and noise level etc, please do not hesitate to let us know, then we can recommend suitable motor per your request accordingly.

Q: Do you have a customized service for your standard motors or gearboxes?
A: Yes, we can customize per your request for the voltage, speed, torque and shaft size/shape. If you need additional wires/cables soldered on the terminal or need to add connectors, or capacitors or EMC we can make it too.

Q: Do you have an individual design service for motors?
A: Yes, we would like to design motors individually for our customers, but some kind of  molds are necessory to be developped which may need exact cost and design charging. 

Q: What’s your lead time?
A: Generally speaking, our regular standard product will need 15-30days, a bit longer for customized products. But we are very flexible on the lead time, it will depend on the specific orders.

Applications of Spline Couplings

A spline coupling is a highly effective means of connecting 2 or more components. These types of couplings are very efficient, as they combine linear motion with rotation, and their efficiency makes them a desirable choice in numerous applications. Read on to learn more about the main characteristics and applications of spline couplings. You will also be able to determine the predicted operation and wear. You can easily design your own couplings by following the steps outlined below.

Optimal design

The spline coupling plays an important role in transmitting torque. It consists of a hub and a shaft with splines that are in surface contact without relative motion. Because they are connected, their angular velocity is the same. The splines can be designed with any profile that minimizes friction. Because they are in contact with each other, the load is not evenly distributed, concentrating on a small area, which can deform the hub surface.
Optimal spline coupling design takes into account several factors, including weight, material characteristics, and performance requirements. In the aeronautics industry, weight is an important design factor. S.A.E. and ANSI tables do not account for weight when calculating the performance requirements of spline couplings. Another critical factor is space. Spline couplings may need to fit in tight spaces, or they may be subject to other configuration constraints.
Optimal design of spline couplers may be characterized by an odd number of teeth. However, this is not always the case. If the external spline’s outer diameter exceeds a certain threshold, the optimal spline coupling model may not be an optimal choice for this application. To optimize a spline coupling for a specific application, the user may need to consider the sizing method that is most appropriate for their application.
Once a design is generated, the next step is to test the resulting spline coupling. The system must check for any design constraints and validate that it can be produced using modern manufacturing techniques. The resulting spline coupling model is then exported to an optimisation tool for further analysis. The method enables a designer to easily manipulate the design of a spline coupling and reduce its weight.
The spline coupling model 20 includes the major structural features of a spline coupling. A product model software program 10 stores default values for each of the spline coupling’s specifications. The resulting spline model is then calculated in accordance with the algorithm used in the present invention. The software allows the designer to enter the spline coupling’s radii, thickness, and orientation.


An important aspect of aero-engine splines is the load distribution among the teeth. The researchers have performed experimental tests and have analyzed the effect of lubrication conditions on the coupling behavior. Then, they devised a theoretical model using a Ruiz parameter to simulate the actual working conditions of spline couplings. This model explains the wear damage caused by the spline couplings by considering the influence of friction, misalignment, and other conditions that are relevant to the splines’ performance.
In order to design a spline coupling, the user first inputs the design criteria for sizing load carrying sections, including the external spline 40 of the spline coupling model 30. Then, the user specifies torque margin performance requirement specifications, such as the yield limit, plastic buckling, and creep buckling. The software program then automatically calculates the size and configuration of the load carrying sections and the shaft. These specifications are then entered into the model software program 10 as specification values.
Various spline coupling configuration specifications are input on the GUI screen 80. The software program 10 then generates a spline coupling model by storing default values for the various specifications. The user then can manipulate the spline coupling model by modifying its various specifications. The final result will be a computer-aided design that enables designers to optimize spline couplings based on their performance and design specifications.
The spline coupling model software program continually evaluates the validity of spline coupling models for a particular application. For example, if a user enters a data value signal corresponding to a parameter signal, the software compares the value of the signal entered to the corresponding value in the knowledge base. If the values are outside the specifications, a warning message is displayed. Once this comparison is completed, the spline coupling model software program outputs a report with the results.
Various spline coupling design factors include weight, material properties, and performance requirements. Weight is 1 of the most important design factors, particularly in the aeronautics field. ANSI and S.A.E. tables do not consider these factors when calculating the load characteristics of spline couplings. Other design requirements may also restrict the configuration of a spline coupling.


Spline couplings are a type of mechanical joint that connects 2 rotating shafts. Its 2 parts engage teeth that transfer load. Although splines are commonly over-dimensioned, they are still prone to fatigue and static behavior. These properties also make them prone to wear and tear. Therefore, proper design and selection are vital to minimize wear and tear on splines. There are many applications of spline couplings.
A key design is based on the size of the shaft being joined. This allows for the proper spacing of the keys. A novel method of hobbing allows for the formation of tapered bases without interference, and the root of the keys is concentric with the axis. These features enable for high production rates. Various applications of spline couplings can be found in various industries. To learn more, read on.
FE based methodology can predict the wear rate of spline couplings by including the evolution of the coefficient of friction. This method can predict fretting wear from simple round-on-flat geometry, and has been calibrated with experimental data. The predicted wear rate is reasonable compared to the experimental data. Friction evolution in spline couplings depends on the spline geometry. It is also crucial to consider the lubrication condition of the splines.
Using a spline coupling reduces backlash and ensures proper alignment of mated components. The shaft’s splined tooth form transfers rotation from the splined shaft to the internal splined member, which may be a gear or other rotary device. A spline coupling’s root strength and torque requirements determine the type of spline coupling that should be used.
The spline root is usually flat and has a crown on 1 side. The crowned spline has a symmetrical crown at the centerline of the face-width of the spline. As the spline length decreases toward the ends, the teeth are becoming thinner. The tooth diameter is measured in pitch. This means that the male spline has a flat root and a crowned spline.


Spindle couplings are used in rotating machinery to connect 2 shafts. They are composed of 2 parts with teeth that engage each other and transfer load. Spline couplings are commonly over-dimensioned and are prone to static and fatigue behavior. Wear phenomena are also a common problem with splines. To address these issues, it is essential to understand the behavior and predictability of these couplings.
Dynamic behavior of spline-rotor couplings is often unclear, particularly if the system is not integrated with the rotor. For example, when a misalignment is not present, the main response frequency is 1 X-rotating speed. As the misalignment increases, the system starts to vibrate in complex ways. Furthermore, as the shaft orbits depart from the origin, the magnitudes of all the frequencies increase. Thus, research results are useful in determining proper design and troubleshooting of rotor systems.
The model of misaligned spline couplings can be obtained by analyzing the stress-compression relationships between 2 spline pairs. The meshing force model of splines is a function of the system mass, transmitting torque, and dynamic vibration displacement. This model holds when the dynamic vibration displacement is small. Besides, the CZPT stepping integration method is stable and has high efficiency.
The slip distributions are a function of the state of lubrication, coefficient of friction, and loading cycles. The predicted wear depths are well within the range of measured values. These predictions are based on the slip distributions. The methodology predicts increased wear under lightly lubricated conditions, but not under added lubrication. The lubrication condition and coefficient of friction are the key factors determining the wear behavior of splines.

China Standard Precision Transmission Csf Series Strain Wave Gear Reducer for Industrial Robot     with Great qualityChina Standard Precision Transmission Csf Series Strain Wave Gear Reducer for Industrial Robot     with Great quality