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SHD harmonic-drive gearheads from HD Systems Inc., Hauppauge, N.Y. (hdsi.net), are compact and use a cross-roller bearing with high moment stiffness. The units are available in six different gearhead sizes, with thickness ranging from 17.5 to 33 mm, positional accuracy between 1 and 1.5 arc-min, and can handle input speeds of 4,000 to 8,500 rpm. The rated torque at 2,000 rpm ranges from 3.7 Nm (33 lb-in.) to 206 Nm (1,823 lb-in.).