Among the three major HONPINE series (hpjm hag tchl), the recommended models for micro harmonic joint actuators are HPJM-RE30-40 and TCHL-11. These ultra-compact designs are commonly used in drones, military equipment, and other devices with stringent torque and space requirements.
TCHL-11 Micro Harmonic Joint Actuator
The TCHL-11 Harmonic joint actuator developed by Honpine Precision features a highly integrated design that delivers up to 25 Nm peak torque within an ultra-lightweight package weighing only 0.35 kg, offering exceptional power density.
Its key innovation lies in the direct integration of a torque sensor on the harmonic drive side, combined with a dual-encoder architecture to achieve a complete force-position closed-loop control system. This enables the joint to maintain high-precision positioning while providing accurate force sensing and interaction capabilities, which are critical for achieving compliant and safe operation in humanoid robots.
In addition, the actuator's compact dimensions of φ52 mm × 57 mm and 8 mm hollow-shaft cable routing design greatly simplify integration and cable management in space-constrained robotic systems.
HPJM-30 Micro Harmonic Joint Actuator
The HPJM-RE30-40 Pro (HPJM30-40) Joint Module from Honpine Precision is a highly integrated and ultra-compact intelligent actuator designed for humanoid robots, collaborative robots, UAVs, and precision automation equipment. The module combines a high-precision harmonic drive reducer with a frameless torque motor in a compact all-in-one architecture, offering reduction ratios of 51:1 and 101:1. It delivers up to 2.4 N·m rated torque and 4.8 N·m peak torque, while maintaining a low backlash of 40 arcsec for highly accurate motion control.
The module is available in both single-encoder (CAN/CANopen) and dual-encoder (CAN/EtherCAT) configurations. The dual-encoder version enables more precise closed-loop position control, making it suitable for applications requiring superior motion accuracy and dynamic performance.
Featuring a 6 mm hollow shaft for cable routing and a compact, lightweight design with an overall length of approximately 60.5 mm, the HPJM30-40 simplifies internal wiring and system integration in space-constrained robotic platforms. It is ideally suited for robot wrists, dexterous hands, small robotic arms, UAV actuation systems, and other advanced motion control applications where precision, responsiveness, and high integration are essential.
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