CX Robotics (Beijing Changxing Power Robot Technology Co., Ltd.) self-developed CXR force-controlled rotary actuator series integrating frameless torque motor, harmonic reducer, dual encoders and driver for precise force/position/velocity control; four sizes CXR-14/17/20/25 (the site's table mislabels the latter two as CXL-20/25) with rated torque 9.6/30/50/84 N.m, start-stop permissible torque 34/66/102/194 N.m, 29.7-34.6 rpm max output speed, customizable 30-120 reduction ratio, 0.86-2.7 kg mass, phi70-phi110 mm OD and phi6-phi12.5 mm hollow shaft; 17-bit magnetic dual-encoder closed loop with 20 arcsec repeatability, optional torque sensor (0.2% F.S. force control) and brake, 48 VDC, rated/max power 49/103 W up to 483/785 W. Suited to variable-load, variable-inertia humanoid robot joints.
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