High Precision Robotic Harmonic Joint Actuator with High Positioning Accuracy

Name: High Precision Robotic Harmonic Joint Actuator with High Positioning Accuracy
SKU: -1

● Introduction

The HONPINE HAU harmonic joint actuator is designed for robotic applications that require high positioning accuracy, strong overload capability, and a large hollow design. Compared with the HONPINE HAG harmonic joint actuator, the HAU eliminates the torque sensor configuration, making it a more compact solution for applications where torque sensing is not required.
The HAU harmonic joint actuator is particularly suitable for high-precision humanoid robots, special-purpose robots, and robotic arms. By combining high positioning accuracy, industrial-grade overload performance, and a large hollow diameter, the HAU is designed to help robots achieve stable and precise motion in demanding applications.

Features

High Positioning Accuracy

The HONPINE HAU harmonic joint actuator achieves positioning accuracy of less than 15 arcsec and repeatability of less than 1.5 arcsec, providing precise motion control for robotic joints that require consistent positioning performance.

Compared with many similar harmonic joint actuators on the market, the HAU provides a high level of positioning accuracy while maintaining the mechanical strength required for practical robotic applications.

For projects with more demanding accuracy requirements, HONPINE can also provide customized harmonic joint actuator solutions with positioning accuracy below 15 arcsec according to the specific requirements of the application.

Industrial-Grade Overload Performance

The HONPINE HAU harmonic joint actuator is designed for demanding industrial applications, with sufficient mechanical and power redundancy to provide reliable performance under variable loads and dynamic operating conditions.

Its wide peak torque and speed operating range allows the actuator to maintain a more capable dynamic response across different motion speeds. For example, the HAU14 can deliver a peak torque of 35 N·m across a speed range of 0–4,000 rpm.

A wider usable torque-speed range gives the harmonic joint actuator greater flexibility when the robot operates under different motion profiles. Instead of being optimized for only a narrow operating range, the HAU is designed to provide more stable and responsive power output across a broader range of working conditions.

Large Hollow Design for Easier Cable Routing

Another important advantage of the HONPINE HAU harmonic joint actuator is its large hollow design. The hollow diameter ranges from 16.8 mm to 28 mm, which is larger than that of many comparable harmonic joint actuators.

The larger hollow passage provides additional space for routing power cables, signal lines, communication cables, and other wiring through the robot joint. This can simplify cable management and help reduce interference with the mechanical structure, particularly in humanoid robots and robotic arms with compact joint layouts.

For robotic systems where internal cable routing and compact mechanical integration are important, the large hollow design of the HAU provides greater flexibility during joint and robot design.

Specification

Sheet 1

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Model	gear ratio	Rated Torque	Peak Torque	Rated Speed / Max. Speed Under Load	Max. Speed No Load	Rated Current	Max. Current	Torque Constant	Motor Back-EMF Constant	Encoder Resolution	Absolute Positioning Accuracy	Repeatability	Overturning Stiffness	Torsional Stiffness	Motor-Side Brake	Rotor Inertia Without Brake	Rotor Inertia With Brake	Weight Without Brake	Weight With Brake	Motor Pole Pairs
Model	unit	N·m	N·m	RPM	RPM	Arms	Arms	N·m/Arms	Vrms/krpm	bit	Arcsec	Arcsec	x10^4N·m/rad	x10^4N·m/rad	N·m	Kg*m^2	Kg*m^2	kg	kg	Pole
HAU-11 Without STO	51	4.6	11.4	59	98	2.04	4.54	2.26	4.87	Single-turn 20bit Multi-turn 12bit	≤75	≤15	8	0.46	≥0.15	1.86*10^-5	1.94*10^-5	0.56	0.6	16
	81	6.2	15	37	62	1.73	3.76	3.59						0.6
	101	7.3	18	30	50	1.63	3.62	4.47						0.6
HAU-14 WithoutSTO	51	10.5	23	59	98	2.92	6.39	3.60	7	Single-turn 20bit Multi-turn 12bit	≤75	≤15	8	0.46	≥0.32	3.52*10^-5	3.76*10^-5	0.915	0.96	16
	81	16.5	29	37	62	2.89	5.07	5.71						0.6
	101	21	35	30	50	2.95	4.91	7.13						0.6
HAU-17	51	21	38	59	78	4.93	8.91	4.26	8	Single-turn 20bit Multi-turn 22bit	≤75	≤15	15	1.07	≥0.32	6.61*10^-5	6.8*10^-5	1.34	1.39	16
	81	28	49	37	49	4.13	7.24	6.77						1.3
	101	32	54	30	40	3.79	6.40	8.44						1.3
HAU-20	51	31	61	59	98	11.15	21.95	2.78	7	Single-turn 20bit Multi-turn 27bit	≤75	≤15	24	1.8	≥0.7	8.81*10^-5	9.47*10^-5	1.54	1.62	16
	81	49	91	37	62	11.10	20.61	4.41						2.3
	101	61	104	30	50	11.08	18.89	5.50						2.3
	121	71	111	25	41	10.77	16.83	6.59						2.3
HAU-25	51	66	122	59	78	18.89	37.55	3.49	7	Single-turn 20bit Multi-turn 32bit	≤75	≤15	38	3.4	≥2	1.33*10^-4	1.45*10^-4	2.51	2.62	16
	81	105	195	37	49	18.92	37.78	5.55						4.6
	101	131	221	30	40	18.93	34.35	6.92						4.6
	121	144	235	25	33	17.37	30.49	8.29						4.6
HAU-32 Max. Speed Under Load	51	137	255	47	59	23.94	48.08	5.30	10	Single-turn 20bit Multi-turn 37bit	≤75	≤15	95	7.6	≥4.2	8.84*10^-4	9.24*10^-4	5.57	5.8	16
	81	202	376	30	37	23.98	44.63	8.42						9.9
	101	252	411	23	30	23.99	39.13	10.50						9.9
	121	267	436	20	25	21.22	34.65	12.58						9.9
	161	267	459	15	19	15.95	27.41	16.74						9.9
HAU-40	51	216	405	35	49	31.8	59.62	6.79	13.5	Single-turn 20bit Multi-turn 42bit	≤75	≤15	175	14	≥6	1.6*10^-3	1.67*10^-4	7.49	7.8	16
	81	345	641	22	31	31.98	59.41	10.79						18.6
	101	430	702	18	25	31.96	52.18	13.45						18.6
	121	515	762	15	21	31.95	47.28	16.12						18.6
	161	557	800	11	16	25.97	37.30	21.45						18.6

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sales@honpine.com