# Harmonic Drive CSG-25-100-2UH High-Torque Strain-Wave Gear Unit

Benchmark size-25 100:1 high-torque cup-type gear unit for shoulder/elbow joints of mid-size arms.

- Maglev ID: ac-harmonicdrive-csg-25-100-2uh
- Brand: Harmonic Drive
- MPN: CSG-25-100-2UH
- Category: actuators / Strain-Wave (Harmonic) Reducers
- Origin: JP (maker HQ, factory not confirmed)
- Maker: Harmonic Drive LLC / Harmonic Drive Systems (brand, JP)
- NDAA: unknown · Blue UAS: unknown · FCC: n/a
- HTS: 8483.40.50.10
- MOQ: unknown · Lead time: unknown
- Confidence: VERIFIED

## Price
- No public price. Request a quote via POST /api/rfq or the order pad.

## Specifications
- Ratio: 100:1
- Rated torque: 87 N·m at 2,000 rpm input
- Peak torque (repeated / momentary): 204 N·m repeated (start/stop) / 369 N·m momentary
- Backlash: Zero backlash (maker claim; no arcsec figure published)
- Outer diameter: 107 mm (φA, CSG/CSF-25 gear unit)
- Hollow shaft: no (cup type)

## Links
- Product: https://www.harmonicdrive.net/products/gear-units/gear-units/csg-2uh
- Datasheet: https://www.harmonicdrive.net/_hd/content/documents1/CSG-CSF_GearUnits.pdf
- CAD: none

## Equivalents
- Laifual FSG-25-100 High-Torque Cup-Type Strain-Wave Reducer (ac-laifual-fsg-25-100)
- Leaderdrive LCSG-25-100 High-Torque Cup-Type Strain-Wave Reducer (ac-leaderdrive-lcsg-25-100)
- Nidec FLEXWAVE WPU-63-100-CR High-Torque Strain-Wave Unit (ac-nidec-wpu-63-100-cr)

## Sources
- https://www.harmonicdrive.net/products/gear-units/gear-units/csg-2uh (CSG-2UH table: CSG-25-100-2UH torques; mass 1.5 kg)
- https://www.harmonicdrive.net/_hd/content/documents1/CSG-CSF_GearUnits.pdf (outline dimensions table (outer diameter))