LinkerHand L20 pairs 16 active + 5 passive DoF with a linkage drive in a ~1200 g hand rated for 20 kg; wide DC 24-48 V input at 0.3 A static / 1.8 A peak; ±0.20 mm repeatability, 15 N thumb and 20 N finger force with 100 N whole-hand grip and a 0.9 s closing cycle; CAN/RS485 control targets heavyweight grasping and industrial end-effectors on humanoids.
Harmonic Drive is the inventor and global leader of strain wave (harmonic) gearing. The CSG-2A component set (wave generator, flexspline, circular spline) spans 10 sizes 14-65 with ratios 50-160: rated torque (L10) 7-1,236 N·m, repeated peak 23-3,419 N·m, momentary peak 46-6,175 N·m, standard accuracy 1 arcmin (1.5 for size 14), zero backlash and high torsional stiffness (K1 0.34-54 x10^4 N·m/rad) at only 0.09-6.7 kg - the go-to precision reducer for cobot, humanoid, semiconductor and optics joints.
20-DoF / 15-actuator humanoid five-finger hand with 0.1-20 N (+/-0.1 N) fingertip force sensing, tendon drive, <1 s open-close, 3-5 kg payload, <1 kg weight, 1M-cycle life and ROS1/ROS2 SDK.
Nabtesco (Japan) invented and dominates the RV cycloidal reducer used in industrial robots. The RV series uses two-stage reduction (involute center gear plus cycloidal pin stage) with an integrated angular ball main bearing: RV-E spans sizes 6E-450E and RV-C 10C-500C, rated torque 72-4,410 N·m (RV-E) and 98-4,900 N·m (RV-C) at 15 r/min output, ratios 31-192, lost motion under 1 arcmin and shock capacity of 5x rated torque, the de-facto standard for heavy industrial robot joints.
RealMan's WHG high-performance joint modules span 10-360 N·m rated torque (WHG1410 to WHG32360) starting at only 800 g; each integrates an electromagnetic brake, dual encoders (16-bit incremental + 18-bit absolute) and a 9-18 mm hollow-bore through-wiring design, with CAN FD communication, 24/48 V supply, 100/160 reduction ratio and 0-50 °C operation for efficient integration into humanoid and other multi-axis systems.
Leaderdrive (688017.SH), China's leading strain wave gear maker, offers the LCS/LCSG standard cup-shaped series built from flexspline, circular spline, wave generator and roller bearings: sizes 14-58 with 30-160 ratios, 4-969 N·m rated torque and up to 4459 N·m momentary (LCSG high-torque version ~30% above LCS), backlash ≤10 arcsec, angular transmission accuracy down to 1 arcmin, input speeds to 8500 r/min and torsional rigidity up to 71×10⁴ N·m/rad, for robots, humanoids, semiconductor/PCB equipment, machine tools and photovoltaic machinery.
MagicLab H70 harmonic integrated joint: φ70x96 mm at 900 g, 30 rpm rated at 48 V with 30 N.m rated / 96 N.m peak torque, 12 mm hollow bore, CAN / EtherCAT; built for humanoid and quadruped joints.
MOONS' DCU series coreless brushed DC motors span Ø8-24 mm with 0.3-9.5 W rated power and no-load speed up to 16,000 rpm. The ironless cup rotor eliminates cogging and iron loss for high acceleration and low inertia, and the self-supporting cup winding is protected by invention patent ZL201510121440.7. DCU08017 weighs only 7.1 g; gearbox, encoder and voltage variants suit frequent start-stop handheld devices and robot end-effectors.
Laifual FH series (FHD/FHN/FHG/FHT) features a through-bore hollow shaft for central cable and shaft routing, sizes 8-40 with 50-160 ratios, 1.25-382 N·m rated torque, momentary permissible torque up to 1530 N·m, backlash ≤20 arcsec, angular transmission accuracy down to 1 arcmin and 8000-15000 h design life; the output flange integrates a cross-roller bearing (CRB) to carry external moment loads directly, with FHD-14 weighing only 0.34 kg, fitting humanoid waist/shoulder/elbow joints, precision rotary tables and optical equipment.
Laifual (03952.HK) FS series are standard harmonic component sets in FSF, FSS, FSN and FSG structures, sizes 5-50 with 50-160 ratios, 0.4-529 N·m rated torque at 2000 r/min input, momentary permissible torque up to 2450 N·m, backlash ≤20 arcsec, angular transmission accuracy down to 1 arcmin, 10000-15000 h design life and a lightest weight of only 25 g, benchmarking Harmonic Drive CSF/CSG/CSD for humanoid/collaborative robot joints and precision automation.
ZHAOWEI, a national champion in micro transmission systems, offers MC/CL coreless brushless motors from 4 to 26 mm diameter with stall torque up to 627 mNm (MC2250) and up to 86% efficiency, integrated with in-house planetary gearboxes and encoders as micro drive systems powering dexterous-hand finger joints and other end-effectors of humanoid robots.
Huandong Technology, the robot-joint reducer arm of Shuanghuan Driveline, covers robots from 3 to 1000 kg payload. The SHPR-E precision cycloidal (RV) series' representative SHPR-20E offers a 57/56 ratio, 153 N.m output at 20 r/min, 412 N.m start-stop torque, 833 N.m peak torque, 1 arc.min backlash and 4.7 kg weight for industrial robot and automation joints.
