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Integrated Harmonic /Planetary Robot Joint Motor

The Robot joint actuator is the core power component of robots, special robots, and humanoid robots. It achieves precise motion control of joints through integrated components including harmonic drives or planetary reducers, frameless torque motors, encoders, and brakes.Robot joint motor are further subdivided into:Harmonic joint modules with integrated drives,Planetary joint modules with integrated drives,Rotary actuators with external drives.To facilitate use by customers requiring customized joint modules, we also offer the critical power component - frameless torque motors - as standalone products within this category.In addition to robotics applications, joint modules are also used in:Semiconductor equipment,Photovoltaic equipment,Precision medical equipment,3C equipment,Optical equipment

Harmonic Planetary Frameless Robot Joint Motor

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HONPINE HONPINE Precision > CNC & Robots Parts

Harmonic Joint Motor

HONPINE harmonic drive joint motors are characterized by high precision, high torque, and large hollow core diameter, often providing solutions for applications in confined spaces. Customization is supported, and these motors are frequently used in the field of specialized robotics.

Planetary Joint Motor

The planetary joint motor is also a core component of robotic power systems. Compared to harmonic joint modules, it features a smaller reduction ratio, higher output speed, and greater rigidity, though with slightly lower overall output accuracy. Through highly integrated components including planetary reducers, frameless torque motors, brakes, encoders, and drivers, its size and weight are significantly optimized, enabling precise joint motion control. This results in higher torque, more compact dimensions, and lighter weight. Planetary joint motors typically support a wide voltage range, adapting to low-voltage DC 24V~48V. We also offer customized solutions based on individual customer requirements.

Frameless Torque Motor

The frameless torque motor, a specialized type of permanent magnet synchronous motor (PMSM), consists of two core components: the rotor and stator, while eliminating traditional motor structures such as housings, bearings, and shafts. Designed for direct integration into a customer’s mechanical system, it requires the end-user to supply supporting bearings and enclosures. This design philosophy delivers higher flexibility, more compact dimensions, and superior performance, making it ideal for applications with stringent demands on space, weight, and dynamic capabilities. It excels in high-precision, high-dynamic-response scenarios, including humanoid robot joint actuation, precision rotary stages, medical equipment, and industrial automation systems.Frameless torque motors are further subcategorized into internal rotor frameless motors and external rotor frameless motors, depending on their structural configuration.

What is a harmonic drive robot joint motor?

The harmonic 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.The HONPINE harmonic joint motor offers flexible configuration options to meet diverse application needs, including dual encoders, STO (Safe Torque Off), holding brakes, and integrated torque sensors.

Harmonic Drive Robot Joint Actuator Selection

To meet diverse market demands, HONPINE harmonic drive robot joint motors are currently divided into three main series: HPJM, TCHL, and HAG.

This guide provides an initial overview to help you select the most suitable actuator for your application based on factors such as cost control, lead time, and baseline performance requirements.

For detailed selection and technical support, please feel free to contact us for further discussion.

HPJM

TCHL

HAG

Key Features

This series has been on the market for over 5 years, offering a fully developed and mature humanoid robot joint solution. It integrates a harmonic reducer, driver, encoder, and frameless torque motor. Dual encoders and brake options are available. Supports CAN (proprietary), CANopen, and EtherCAT communication protocols.

Key Advantages

Highly compact design, allowing more space for system integration under equivalent performance requirements

Optional low-temperature grease, suitable for harsh environments down to -40°C

Average lead time ≤ 4 weeks, ensuring strong production capacity

Applications

Ideal for projects requiring stable and reliable performance, fast batch delivery, or operation in low-temperature environments.

Notes

This series was not originally designed with torque sensors or waterproofing. Customization is available if such features are required, but additional cost and longer lead time should be expected.

Key Features
This new series, to be launched at the end of 2025, adopts a self-developed harmonic reducer, enabling better cost control. It comes standard with dual encoders (single-turn absolute, 23-bit resolution) and supports CAN FD and EtherCAT communication protocols. Optional features include a brake and torque sensor. The integrated terminal harness supports hollow shaft cable routing and module cascading.

Key Advantages
Significant cost advantage
Supports front, side, and rear mounting configurations, offering high structural flexibility
Harness design facilitates easy system integration

Applications
Ideal for cost-sensitive projects with high requirements for installation flexibility.

Notes
Currently, only a 101 gear ratio is available. The full range of gear ratios is expected to be launched in June 2026. The current lead time is approximately 6 weeks.

Key Features

Launched in 2026, this new series is equipped with STO (Safe Torque Off) functionality to meet specific safety requirements. It adopts harmonic reducers from leading domestic brands, ensuring high product reliability. Supports CANopen and EtherCAT communication protocols, with optional brake and torque sensor.

Key Advantages
Meets higher safety standards
Excellent performance and reliable quality of core reducer components

Applications

Ideal for projects with clear safety requirements or where reducer reliability is a top priority.

Notes

As a newly launched series, production capacity is still ramping up. The current lead time is approximately 8–10 weeks.

Robot Joint Motor Solutions and Application

For many years, HONPINE has applied harmonic robot joint motors and planetary joint motors to various fields, including humanoid robots, dual-arm robots, wheeled robots, drones, agricultural machinery, nuclear equipment, industrial robots, and industrial automation equipment, providing joint motor solutions and supporting customization for these industries. Its HPJM, TCHL, HAG, and other series of robot joint motors are developed based on experience gained from practical service.

What are Advantages and Disadvantage of Harmonic Joint Motor

Advantages of Harmonic Joint Motors

Ultra-High Precision

Minimal transmission backlash with repeat positioning accuracy up to ±0.01 mm, making it essential for precise robotic operations.

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High Reduction Ratio

A large single-stage reduction ratio enables high torque output from a compact size, achieving effective “low-speed, high-load” performance.

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Extremely Compact Design

Simple structure, small size, and lightweight construction, making it highly suitable for space-constrained robotic parts such as wrists and hands.

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High Integration Capability

Often sold as integrated modules combining motors, encoders, and other components, allowing convenient installation and maintenance while supporting modular design.

Disadvantages of Harmonic Joint Motors

The harmonic reducer and torque sensor of the harmonic joint motor are custom-developed, making it difficult to reduce the price. However, in the near future, when demand and production capacity reach a certain level, the price may be reduced.

Harmonic Drive Robot Joint Module - FAQ

HONPINE harmonic DC joint motors are harmonic actuators specifically designed for embodied intelligence. hpjm was the first harmonic actuator to be released, and currently boasts the most stable performance and fastest delivery time. To meet customer needs, we have recently released two new harmonic DC joint motors: TCHL and HAG. Contact us for the latest product brochures.

Planetary Joint Motor - FAQ

The JRM planetary joint motor is a military-grade product from HONPINE, commonly used in high-performance robotic dogs. Currently, for humanoid robot bionics, the HPJM harmonic joint motor is about to be launched, featuring a more compact design and a larger hollow cavity.

Harmonic Drive Actuators for Humanoid Robots- FAQ

These are some of the most common technical and purchasing questions customers ask when evaluating humanoid robot joint modules and actuator systems. Topics include torque selection, reducer ratios, motion control, communication protocols, thermal management, dynamic walking performance, and integration with humanoid robot platforms.

This guide is intended to help engineers, robotics developers, and procurement teams better understand how to select suitable joint solutions for different humanoid robot sizes, payload requirements, and application scenarios.
More humanoid robot solutions please contact honpine

Precautions for using robot joint modules

For more information about pre-sales and after-sales matters regarding joint modules, please contact us. HONPINE will provide one-on-one technical support.

● Safe Operation: Do not plug or unplug cables while powered on. Before disconnecting capacitors, ensure they are fully discharged.
● Equipment Installation: Confirm that the installation structure has sufficient mechanical strength to support the weight of the integrated joint and ensure secure mounting.
● Screw Fastening: When fastening screws between the motor and structural components, thread-locking adhesive and a torque wrench must be used. Strictly follow the torque specifications provided in the motor manual.
● Wiring Standards: Perform wiring strictly according to the pin definition. Do not rely on cable colors for identification, and ensure proper resistance matching.
● Power Supply Usage: Verify that the power supply voltage matches the rated voltage of the integrated joint. When users connect external lithium batteries, if the rated voltage is 48V, the fully charged battery voltage may exceed 60V during startup, which could affect motor operation or even damage the motor. Preventive measures include installing electrolytic capacitors for voltage smoothing or connecting a voltage regulation module in series with the motor power input to stabilize the supply voltage.
● Battery Power Supply Systems: In battery-powered systems, the battery itself can absorb reverse current and help prevent the voltage from exceeding the rated limit.
● Switching Power Supply Systems: In switching power supply systems, the integrated motor may generate regenerative energy during rapid deceleration or when driven by gravity loads, causing the DC bus voltage to rise and potentially trigger overvoltage alarms. To prevent this, it is recommended to install large-capacity electrolytic capacitors in parallel or add braking resistors to reduce voltage spikes.
● Avoid Electric Shock and Crushing Injuries: When the motor is powered on, running, or connected to structural components, never touch the motor directly by hand to avoid electric shock or crushing injuries caused by moving structures.
● Motor Disassembly: Unauthorized disassembly of the motor is prohibited. Disassembly is only permitted under special circumstances after consultation and under professional guidance. Unauthorized disassembly will void the warranty.
● Transportation After Disassembly: If the motor is disassembled under guidance and needs to be returned, ensure all original screws are properly reinstalled and secured before shipping to prevent transportation damage caused by vibration or impact, including reducer screws, rear cover screws, and other fastening components.

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