HONPINE TCHL Harmonic Joint Modules: Robotic Force Control and Real-World Applications

Hello everyone, I’m Theodore Li, Technical Director at HONPINE.

HONPINE TCHL harmonic joint modules have been deployed in a range of robotic motion-control applications, including dual-arm humanoid robots, single-arm compliant force control, and folding waist mechanisms for wheeled humanoid robots. As integrated motion components, they support a wide range of applications in robotics, intelligent manufacturing, and industrial automation.

From core components to integrated motion units, HONPINE showcases the possibilities of precision transmission technology across different robotic applications through a diverse product portfolio and practical motion demonstrations.

How Do TCHL Harmonic Joint Modules Support Dual-Arm Coordination?

Compared with a static demonstration of an individual joint, a dual-arm demonstration provides a more intuitive view of how integrated joint modules perform within a complete robotic mechanism.

The HONPINE TCHL harmonic joint module series integrates a harmonic reducer, frameless torque motor, encoder, and drive control system into a compact, integrated structure. These modules serve as core motion units for humanoid robots and other lightweight robotic systems.

As humanoid and collaborative robots continue to advance, torque sensing and compliant control are becoming increasingly important for robotic joint performance. These capabilities help robots respond to external forces and support more flexible interactions with their surroundings.

How Does Single-Arm Compliant Force Control Extend Beyond Precise Motion to External Force Sensing?

As humanoid and collaborative robots become more widely adopted, the ability to sense external forces and achieve compliant motion is becoming increasingly important.

Through a dynamic single-arm force-control demonstration, HONPINE showcases two key functions: zero-force dragging and collision protection.

In zero-force dragging mode, an operator can physically guide the robotic arm by hand, allowing it to follow external forces with minimal resistance. This capability supports manual teaching and compliant robotic operations.

When the arm encounters an external collision or unexpected resistance, the system can detect changes in external force and initiate an appropriate protective response, helping reduce the risk of unintended impacts.

This demonstration uses the torque sensor integrated into the joint module to acquire torque information. Combined with the identification and compensation of parameters such as joint friction, inertia, and gravity, the system enables compliant control in the joint coordinate system.

By combining motion execution with torque sensing and interactive control, HONPINE TCHL harmonic joint modules continue to expand the capabilities of robotic joints.

How Can Torque Variations Be Made Visible in Single-Joint Force-Control Interactions?

With an integrated torque sensor, a joint module can provide real-time feedback on actual output torque and regulate its response through closed-loop control based on a target value.

This demonstration makes torque feedback and control performance easier to observe, helping users understand how a joint module senses external forces and regulates torque during operation.

To accommodate different customer development requirements, HONPINE TCHL harmonic joint module software supports CST current/torque control, CSF torque closed-loop control, and MIT control mode over EtherCAT communication, providing multiple options for robotic compliant control and secondary development.

These control options allow developers to explore different approaches to motion and torque regulation according to their application requirements and control architectures.

TCHL Harmonic Joint Modules in a Wheeled Robot Waist Mechanism

Here, we demonstrate the application of HONPINE TCHL harmonic joint modules in the waist mechanism of a wheeled robot.

The solution adopts a four-degree-of-freedom folding structure equipped with lightweight TCHL-32 series harmonic joint modules. The mechanism has a maximum payload of 30 kg, a structural mass of 14 kg, and an IP54 protection rating.

Through a multi-joint configuration and compact mechanical design, this demonstration illustrates how harmonic joint modules can be integrated into robotic waist mechanisms while supporting structural loads and articulated movement.

The design provides a practical reference for waist mechanism development in wheeled humanoid robots, mobile manipulation robots, and similar platforms. By combining multiple integrated motion units within a compact structure, it opens up additional possibilities for robotic mechanism design.

Supporting the Next Generation of Robotics and Intelligent Equipment

As the robotics industry continues to demand higher precision, lighter structures, greater integration, and improved reliability, HONPINE remains committed to advancing core technologies while leveraging its precision manufacturing and scalable production capabilities.

We support customers throughout the product development process, from initial development and validation to volume deployment, helping them address the engineering challenges associated with practical robotic applications.

Building on its core expertise in harmonic reduction technology, HONPINE will continue to develop its portfolio of precision transmission products, integrated joint modules, and robotic motion components.

Through reliable products, continuous technological innovation, and manufacturing capabilities, HONPINE aims to support the continued development of robotics and intelligent equipment.