Integrated Harmonic /Planetary Robot Joint Motor

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.

To meet different market demands for harmonic joint actuator and planetary joint actuator, HONPINE introduces its 2026 new product — the Large hollow planetary robot joint actuator.
The planetary joint module integrates a high-efficiency planetary reducer, precision driver, and 24-bit high-precision dual encoders, while adopting an extra-large hollow shaft design and supporting CAN and EtherCAT communication protocols.
It provides an ideal drive solution for humanoid robots, industrial robots, collaborative robots, and industrial automation 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 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.

Frameless torque motors, unlike traditional servo motors, consist only of stator and rotor components. Compared to framed motors, frameless motors offer flexible configuration and easy installation. Considering the increasing trend of highly integrated drive systems, frameless motors better meet the expectations of engineers. Engineers no longer need to consider motor interfaces in system design, allowing for maximum reduction of space occupied by the power output unit in the drive system, leading to higher system integration.The HONPINE FMK frameless torque motors are now widely used in the J1–J6 joints of collaborative and dual-arm robots, the walking joints of quadruped robots, and the flexible joints of humanoid robots.

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.

The Standard Planetary Joint Module is a core component of robotic power systems. Through highly integrated design combining a planetary reducer, frameless torque motor, brake, encoder, and driver, it achieves significant optimization in volume and weight, enabling precise motion control of the joint. This results in greater torque, smaller size, and lighter weight. Compared to harmonic joint modules, the planetary joint module features a smaller reduction ratio, higher output speed, and greater torque density, making it more suitable for medium-to-low load applications. We also provide customization services tailored to clients’ specific requirements.
With core advantages such as high-speed performance, impact resistance, and compact lightweight design, the Standard Planetary Joint Module has become the preferred solution for high-load drives in humanoid robots, specialized robots, logistics AGVs, and industrial automation, driving advancements in robotic performance and broader application scenarios.

The external rotor frameless torque motor is a specialized type of permanent magnet synchronous motor (PMSM) composed of two core components: the rotor and stator. Unlike traditional internal rotor designs, this motor features an externally mounted rotor and an internally positioned stator. The innovative design eliminates traditional motor housings, bearings, and shafts, retaining only the rotor and stator assemblies. The rotor, located outside the stator, integrates permanent magnets with the outer shell and is directly embedded into the load structure. The stator, positioned internally, contains copper windings and laminations, driving the external rotor’s rotation via electromagnetic forces. This design combines the high moment of inertia of the external rotor configuration with the compactness of the frameless structure, making it ideal for applications requiring low-speed high-torque output and efficient heat dissipation, such as medical equipment, industrial fans, and automated industrial systems.

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.

The internal rotor frameless torque motor is a specialized type of permanent magnet synchronous motor (PMSM) composed of two core components: the rotor and stator. The rotor is internally positioned, while the stator is externally mounted. Its innovative design eliminates traditional motor housings, bearings, and shafts, retaining only the rotor and stator assemblies. The rotor typically adopts a ring-shaped structure integrated with permanent magnets, directly mounted on the load shaft. The stator consists of copper windings and laminations, generating electromagnetic forces to drive rotor rotation. This configuration achieves torque output through efficient magnetic field interaction, making it ideal for high-precision applications such as robotic joints and industrial automation. It enables direct load driving, minimizing mechanical transmission losses.