How HONPINE HAG Harmonic Drive Robot Joint Modules Improve Precision, Torque Control, and Reliability

HONPINE HAG robot joint module is a game-changing innovation developed to meet the emerging demands of the robotics industry. It is a fully closed-loop harmonic robotic joint module.

Under What Industry Background Was the HONPINE Force-Control Robot Joint Module Developed?

In the robotics industry, the performance of joint modules directly determines a robot’s motion capability, load efficiency, and adaptability to different applications. To provide robots with better dynamic response, higher transmission precision, and overall improved motion performance and operational quality, we developed a fully closed-loop force-control joint module.

This joint module integrates:

• Torque sensor

• Harmonic reducer

• Frameless torque motor

• High-precision encoder

• Brake

• Driver

At the same time, it supports four control modes:

• Current mode

• Speed mode

• Position mode

• Torque mode

What Are the Advantages of Using Torque Closed-Loop Control?

With torque closed-loop control, the joint module can be easily rotated directly from the output end. Through the end-side torque sensor, torque closed-loop control can be achieved directly within the module itself.

Unlike the traditional architecture—where torque sensor signals must first pass through the host controller and then to the driver before controlling the joint module—this design greatly reduces latency and delivers much higher torque control accuracy.

Why Is the Driver Positioned at the Rear of the HAG Joint Module?

The driver of the HAG joint module is integrated at the rear of the module. Compared with traditional external drivers, this design offers significant advantages.

Traditional externally mounted drivers used in serial robotic joints are complicated to operate, occupy additional space, and create inconvenience during installation and maintenance.

In contrast, the HAG joint module only requires:

• One 48V power supply cable

• EtherCAT or CANopen communication bus

• This allows the module to be quickly and easily deployed.

Key specifications include:

• Rated torque: 8.6–480 N·m

• Positioning accuracy: 70 arcsec

• Repeatability: 10 arcsec

For more detailed specifications, please contact HONPINE directly.

What Industry Pain Points Does the HONPINE HAG Force-Control Joint Module Solve?

Currently, most joint modules on the market that integrate torque sensors place the sensor at the output end. These designs are generally bulky, and during operation, the load acts directly on the sensor.

Because torque sensors themselves typically have poor resistance to bending and torsion, they cannot fully utilize the maximum load capacity of the joint module’s main bearing. In addition, due to the sensor cable routing at the output end, continuous 360-degree rotation cannot be achieved.

Furthermore, after long-term continuous operation, the wiring harness at the cable outlet position can suffer fatigue, resulting in reduced reliability.

To address these industry pain points, we have developed 11–326 series fully closed-loop joint modules.

In addition, whether the module includes a torque sensor or not, the installation dimensions remain exactly the same, allowing customers to easily interchange and select the appropriate configuration.

If you are looking for force-control joint modules, please contact HONPINE