{
  "license": "CC BY 4.0",
  "attribution": "fysical.ai / whatro.bot",
  "source": "https://github.com/fysical-ai/whatrobot-catalog",
  "url": "https://whatro.bot/component/harmonic-drive-csf-csg/",
  "html": "https://whatro.bot/component/harmonic-drive-csf-csg/",
  "taxonomy_version": "2026-01",
  "catalog_version": "2026-01",
  "handle": "harmonic-drive-csf-csg",
  "name": "Harmonic Drive CSF / CSG Component Sets",
  "kind": "component",
  "manufacturer": {
    "handle": "harmonic-drive",
    "name": "Harmonic Drive Systems",
    "country": "JP"
  },
  "category": {
    "id": "cp-2-4",
    "full_name": "Component > Actuator > Reducer",
    "path": [
      {
        "id": "cp",
        "name": "Component",
        "handle": "component"
      },
      {
        "id": "cp-2",
        "name": "Actuator",
        "handle": "actuator"
      },
      {
        "id": "cp-2-4",
        "name": "Reducer",
        "handle": "reducer"
      }
    ],
    "url": "https://whatro.bot/components/actuator/reducer/"
  },
  "facts": {
    "component_kind": "actuator",
    "motion": "rotary",
    "reducer_only": true,
    "has_reducer": true
  },
  "variants": [
    {
      "name": "CSG-2A",
      "note": "high-torque cup type; sizes 14–65; ratios 50–160:1; 7–1,236 Nm rated"
    },
    {
      "name": "CSF-2A",
      "note": "standard-torque predecessor of CSG-2A"
    },
    {
      "name": "CSG-2A-LW",
      "note": "lightweight version"
    }
  ],
  "availability": "shipping",
  "attributes": {
    "segment": [
      "professional",
      "research"
    ],
    "reducer_type": "harmonic"
  },
  "summary": "The CSF and CSG are Harmonic Drive's cup-type strain wave gear component sets (wave generator, flexspline, circular spline) that a robot builder integrates with their own motor and housing. The CSG-2A line covers ten sizes from 14 to 65 with ratios of 50:1 to 160:1, rated from 7 Nm to 1,236 Nm; it is the classic zero-backlash reducer in industrial and collaborative arm joints.",
  "links": {
    "product": "https://www.harmonicdrive.net/products/component-sets/cup-type/csg-2a"
  },
  "offers": [],
  "sources": [
    {
      "title": "Harmonic Drive LLC CSG-2A page",
      "url": "https://www.harmonicdrive.net/products/component-sets/cup-type/csg-2a",
      "accessed": "2026-10-28",
      "for": [
        "specs",
        "facts"
      ]
    }
  ],
  "unverified": [
    "price",
    "release_year"
  ],
  "notes": "Numeric attributes left unset because this is a series record (sizes 14–65, ratios 50–160); per-size figures are in the notes. Quotation only at Harmonic Drive LLC (direct) (https://www.harmonicdrive.net/products/component-sets/cup-type/csg-2a). Unverified (free text): csf-2a-per-size-specs. Attribute numbers are the smallest size (CSG-14-50-2A-R: 7 Nm rated, 23 Nm repeated peak, 0.09 kg) and gear_ratio 100 is one of the available ratios; the series spans up to 1,236 Nm rated / 3,419 Nm peak / 12 kg. Accuracy 1–1.5 arc-min. Series records do not fit single numeric attributes well; editor may prefer to drop the numbers.",
  "tags": [],
  "price": null,
  "attribute_definitions": {
    "segment": {
      "name": "Segment",
      "type": "enum",
      "unit": null,
      "description": "Buyer groups that would plausibly buy this at list price."
    },
    "reducer_type": {
      "name": "Reducer type",
      "type": "enum",
      "unit": null,
      "description": "Gear reduction principle."
    }
  }
}