Model HT1 Rotary Incremental Actuator
The Moog Type HT-1 Rotary Incremental Actuator is a new addition to the rotary actuator product line. It is a compact, closely integrated coaxial design composed of a small size permanent magnet stepper motor driving the output stage through a gear transmission consisting of a larger size harmonic drive. The actuator provides relatively high holding and running torque for its size. This actuator is optimized for low weight and relatively high torsional stiffness. Co-axial nesting of the motor and transmission drive elements gives the unit a small profile geometry. Nested new technology using coarse and fine potentiometers provide high resolution, telemetry with noise-free operation.
Key Features:
- Compact and closely integrated coaxial design
- Multi-stage speed reducer provides high gear ratio
- Provides relatively high unpowered holding and running torque for its size
- Optimized for low weight
- Very fine output resolution
- Zero backlash
- High torsional stiffness
Specifications
| Parameter | Units | Basis | Data |
Output Step Angle | Degrees | Standard | 0.0039 |
| Steps per Revolution | Steps | Standard | 92160 |
| Max. Output Step Rate | Steps/sec (Deg/sec) | Maximum | 400 (1.56) |
| Backlash | Degrees | Maximum | <0.01° |
| Operating Temperature Range | °C | Maximum | -70 to +105 |
| Torsional Stiffness | lb-in/Rad | Minimum | 125,000 |
| Bending Stiffness | lb-in/Rad | Minimum | 250,000 |
| Axial Stiffness | lb/in | Minimum | 88,000 |
| Radial Stiffness | lb/in | Minimum | 80,000 |
| Output Load Capability Axial | lbf | Nominal | 370 |
| Tranverse | lbf | Nominal | 370 |
| Moment | Lb-in | Nominal | 430 |
| Fine Potentiometer | Primary/Redundant | 352° min. Electrical Travel | 1% Linearity |
| Coarse Potentiometer | Non-Redundant | 192° min. Electrical Travel | .25% |
| Output Torque | Lb-in | Minimum | 300 |
| Unpowered Holding Torque | Lb-in | Minimum | 300 |
| Powered Holding Torque | Lb-in | Minimum | >450 |
| Power | Watts | Maximum | 10 |
| Total Assembly Weight | Lb | Maximum | 2.10 |
| Inertia Capability | kg-m2 | Minimum | 800 kg-m2 |
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