Name: Humanoid Robot Harmonic Gear Drive Joint Motor With Torque Sensor
Brand: Suzhou Giant Precision Industry Co., Ltd.
SKU: TCHL
Availability: InStock

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Humanoid Robot Harmonic Gear Drive Joint Motor With Torque Sensor

Place of Origin:

china

Brand Name:

HONPINE

Model Number:

TCHL

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Humanoid Robot Harmonic Gear Drive Joint Motor With Torque Sensor

Product Details

Protocol:

EtherCAT,CANFD

Encoder:

I/O Dual Encoder,Single-turn Absolute Encoder17 Bit

Ratio:

100,101

Rated Voltage:

48 V DC

Torque Sensor:

Optional

Brake:

Optional

Payment & Shipping Terms

Minimum Order Quantity

Packaging Details

Carton with foam

Payment Terms

T/T

Supply Ability

2000000

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Product Description

Description of TCHL Harmonic Gear Motor

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.

Features of TCHL Harmonic Motor with Torque Sensor

Integrated force/torque sensor on the reducer side, enabling closed-loop force and position control
Fully integrated cables and connectors for simpler and more reliable robot wiring
Ultra-lightweight design: the 14-size model weighs only 0.5 kg
Innovatively integrated electrical connectors, supporting flexible and diverse installation configurations
Supports CAN and EtherCAT communication protocols
Integrated power supply and multi-protocol bus, capable of passing through the hollow shaft of size 14 and above

Specification of TCHL Harmonic Joint Motor

TCHL Parameters	unit	11 (φ52)	14 (φ65)	17 (φ77)	20 (Φ87)	25 (Φ99)	32 (φ131)
Ratio	Unit	100	101	101	101	101	101
Rated Output Torque	N.m	7.7	9.5	48	61	133	267
Peak Torque for Start/Stop	N.m	19	24	67	102	194	411
Peak Output Torque	N.m	25	44	136	181	351	799
Rated Output Speed	rpm	30	29.7	29.7	29.7	29.7	29.7
Peak Output Speed	rpm	40	39.6	39.6	39.6	39.6	39.6
Rated Voltage	V			48
Output Moment of Inertia	Kg.m^2	0.048	0.1	0.45	0.7	1.9	6
Allowable Overturning Moment	N.m	25	30	93	120	150	210
Transmission Error	arcsec	≤60	≤60	≤60	≤60	≤60	≤60
Torque Sensor	Optional
Brake	Optional
Encoder	I/O Dual Encoder,Single-turn Absolute Encoder,23 bit
Encoder	I/O Dual Encoder,Single-turn Absolute Encoder,23 bit
Driver Board Protocol	EtherCAT canFD support available after October 2025
Usage Environment Temperature	-20℃~50℃
IP class	IP54, IP65 after connector upgrade.
Dimension(φxH)	mm	φ52*57	φ65*55	φ77*76	φ87*77.5	φ99*87	φ131*99
Hollow Diameter	mm	8	10	12	12	15	22
Weight(without Brake)	Kg	0.35	0.5	1.1	1.4	1.85	3.3

Tags：

Humanoid Robot Harmonic Gear Drive Joint Motor With Torque Sensor

HONPINE Harmonic Reducer Gears Compact Small Robot Joint Motor

Low Backlash High Stiffness Harmonic Motor Robot Joint Module For Humanoid Robots

Compact Structure Harmonic Motor High Efficiency And Sturdy Design Robot Joint Motor

High Precision And Accuracy Harmonic Motor Robot Joint Motor For Humanoid Robots

Description of TCHL Harmonic Gear Motor

Features of TCHL Harmonic Motor with Torque Sensor

Specification of TCHL Harmonic Joint Motor

Integrated Harmonic Robot Joint Motor

Low Backlash Harmonic Motor

High Adaptability Robot Joint Motor