Customized Harmonic Drive Reducers for Robot Joint Actuator

HAG Robotic Harmonic Gear Motor is a robot joint actuator specifically designed for robotics applications. The built-in driver is integrated at the base of the gear motor, and it is equipped with high-precision encoders—20-bit resolution on the high-speed side and 19-bit on the output side—enabling full closed-loop control. Optional STO and brake functions are available to ensure safer operation of the equipment.

The TCHL Harmonic Joint Module is a harmonic joint module that integrates a torque sensor directly into the harmonic drive reducer. The torque sensor enables precise measurement of the drive system’s operating status and required torque values, allowing accurate load detection of the actuator. This helps prevent overload and enables safer human–robot interaction.
The module features fully integrated cables and connectors, allowing fast, precise component connections and enabling safe, responsive motion control through a highly integrated design.

The HATF Harmonic Servo Rotary Actuators support harmonic drives of models 11, 14, 17, 20, 25, 32, 40, 50, and 58, with rated torque from 4 N·m to 1200 N·m. They feature multi-turn absolute encoders with Tamagawa protocol: single-turn 17-bit / multi-turn 16-bit, or single-turn 23-bit / multi-turn 16-bit. Dual-encoder configurations are also available.Based on the HAS solid model, the HATF actuators add an integrated flange, allowing mounting when end-face installation is not possible. This design provides better support for axial and radial loads, while enhancing vibration and impact resistance.

The HAT Hollow and Standard Harmonic Servo Rotary Actuators support harmonic drives of models 11, 14, 17, 20, 25, 32, 40, 50, and 58, with rated torque from 4 N·m to 1200 N·m and outer diameters ranging from 62 mm to 220 mm.They feature multi-turn absolute encoders with Tamagawa protocol:Single-turn 17-bit, multi-turn 16-bit, or Single-turn 23-bit, multi-turn 16-bit.Custom dual-encoder configurations are also available. The harmonic actuators can be directly mounted via the end face, making them ideal for lightweight or space-constrained applications.

The HASF Solid Standard Harmonic Servo Rotary Actuator includes harmonic drives of models 11, 14, 17, 20, and 25, with rated torque from 4 N·m to 133 N·m. It features a multi-turn absolute encoder with Tamagawa protocol: single-turn 23-bit, multi-turn 16-bit.Based on the standard HASF solid model, this version adds an integrated flange, allowing mounting when end-face installation is not possible. The flange provides better support for axial and radial loads and enhances vibration and impact resistance.

The HAS Solid Standard Harmonic Rotary Actuator integrates a frameless torque motor, multi-turn absolute encoder, and harmonic drive. It supports five harmonic drive models: 11, 14, 17, 20, and 25, with rated torque from 4 N·m to 133 N·m and outer diameters ranging from 62 mm to 110 mm.
It features a multi-turn absolute encoder with Tamagawa protocol: single-turn 23-bit, multi-turn 16-bit. The actuator can be directly mounted via the end face, making it ideal for lightweight or space-constrained applications.

The T-type harmonic joint module is a highly integrated robotic joint unit that combines a harmonic reducer, torque motor, precision sensors, brake, and driver. It is called “T-type” because the output flange is perpendicular to the motor shaft, forming a T-shaped layout ideal for rotary robot joints.
Designed for collaborative robots, the module simplifies development by integrating key components into one compact, plug-and-play unit. This greatly shortens the development cycle, lowers costs, and makes building a robotic arm almost as easy as assembling LEGO blocks. Its high integration also improves maintenance efficiency and expands the applicability of robotic-arm technology.

The joint module achieves highly optimized volume and weight through fully integrated components including harmonic reducer, frameless torque motor, brake, encoder and driver, enabling precise motion control with greater torque output, higher accuracy, more compact size and lighter weight. We also provide customized solutions to meet specific requirements for personalized applications and special operating environments, with the most common customizations being waterproof versions (resistant to water splashes, sprays or underwater operation up to 1 meter depth) and low-temperature adaptations. This waterproof joint module is specifically designed for special robots operating underwater, developed as an enhanced version of our standard joint module with dedicated improvements to address waterproofing challenges in robotic joints.

The large hollow bore rotary actuator typically integrates an internal rotor frameless torque motor with components such as a harmonic drive reducer, absolute encoder, and customized large hollow bore harmonic drive unit to form a complete rotary actuator assembly. Its control unit (drive system) is usually externally mounted, enabling high-precision motion control for connected equipment. Compared to standard rotary actuators, this series features a larger hollow bore diameter, allowing passage of lead screws, cables, and other components. It is designed for applications requiring large through-bore space, high precision, and compact integration, such as machine tool rotary tables, precision medical devices, 5-axis laser cutting systems, and semiconductor equipment.

Standard rotary actuators typically integrate frameless inner rotor torque motors with harmonic drives and absolute encoders to form a complete rotary actuator unit. The control component (drive unit) usually adopts an external configuration to enable high-precision motion control of connected equipment. These actuators are commonly applied in fields requiring high precision and space efficiency, such as:machine tool rotary tables,precision medical equipment,5-axis laser cutting systems,semiconductor manufacturing equipment.

The Robot Joint Motor achieves highly precise motion control through integrated components including harmonic drive, frameless torque motor, brake, encoder, and drive unit, with optimized size and weight. It delivers greater torque, higher precision, more compact size and lighter weight. We also provide customization services according to customers' specific requirements.
Robot Joint Motors typically support a wide voltage range of DC24V~DC48V. As a core component in robotics industry, the technological advancement of Robot Joint Motors will continue to promote the development of specialized robots and humanoid robots towards higher flexibility and broader application scenarios. Beyond robotics, Robot Joint Motors are also applied in semiconductor equipment, photovoltaic equipment, precision medical equipment, 3C equipment, optical equipment and other fields.