#Harmonic reducers (47)

The Complete Robot Joint Module Selection Guide: Harmonic, Planetary, RV, Cycloidal & Quasi-Direct Drive — Vendor Research and Configurations by Robot Weight Class

How should robot joint modules actually be selected? Drawing on 200+ joint-module/reducer entries in the RobotWorld knowledge base, product research on leading vendors (Harmonic Drive, Nabtesco, Leaderdrive, Laifual, Leadshine, EYOBOT, ZeroErr, JIECANG, CubeMars, ENCOS), and item-by-item verification of the supply chains behind Tesla, Unitree, UBTECH, AgiBot and Fourier, this guide systematically compares harmonic, planetary, RV, cycloidal and quasi-direct-drive (QDD) transmission routes on performance and cost, provides a torque-tier product cheat-sheet (0.5-200 N·m) and full configuration recipes by robot weight class (small <=25kg / mid 30-55kg / large 60-100kg), plus a practical pitfall-avoidance playbook.

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Joint modulesHarmonic reducersPlanetary reducersQuasi-direct driveHumanoid robots

Windouble KSG-32-160 Harmonic Joint Module

Windouble KSG-series KSG-32-160 harmonic joint module: 160:1 ratio, 800 Nm rated / 1600 Nm peak torque, 160 mm body, 22 kg, Φ55h6 output shaft. The highest-torque model in the series, for heavy-duty robot joints. Windouble is a Chinese national-level specialized 'little giant' enterprise focused on high-precision harmonic drives for robots.

COMPONENT

HarmonicJoint modulesHarmonic reducersWindouble

Windouble KSG-25-160 Harmonic Joint Module

Windouble KSG-series KSG-25-160 harmonic joint module: 160:1 ratio, 400 Nm rated / 800 Nm peak torque, 135 mm body, 11.5 kg, Φ42h6 output shaft. Suited to heavy-load robot joints. Windouble is a Chinese national-level specialized 'little giant' enterprise focused on high-precision harmonic drives for robots.

COMPONENT

HarmonicJoint modulesHarmonic reducersWindouble

Windouble KSG-20-120 Harmonic Joint Module

Windouble KSG-series KSG-20-120 harmonic joint module: 120:1 ratio, 180 Nm rated / 360 Nm peak torque, 105 mm body, 5.5 kg, Φ32h6 output shaft. Suited to medium/heavy-load robot joints. Windouble is a Chinese national-level specialized 'little giant' enterprise focused on high-precision harmonic drives for robots.

COMPONENT

HarmonicJoint modulesHarmonic reducersWindouble

Windouble KSG-17-100 Harmonic Joint Module

Windouble KSG-series KSG-17-100 harmonic joint module: 100:1 ratio, 85 Nm rated / 180 Nm peak torque, 80 mm body, 2.4 kg, Φ22h6 output shaft. Suited to small/medium-load robot joints. Windouble is a Chinese national-level specialized 'little giant' enterprise focused on high-precision harmonic drives for robots.

COMPONENT

HarmonicJoint modulesHarmonic reducersWindouble

Windouble KSG-14-100 Harmonic Joint Module

Windouble KSG-series KSG-14-100 harmonic joint module: 100:1 ratio, 40 Nm rated / 100 Nm peak torque, 70 mm body, 1.8 kg, Φ19h6 output shaft. Suited to light-load robot joints. Windouble is a Chinese national-level specialized 'little giant' enterprise focused on high-precision harmonic drives for robots.

COMPONENT

HarmonicJoint modulesHarmonic reducersWindouble

CSG-2A-LW Lightweight Component Set | Harmonic Drive

CSG-2A-LW component set: zero backlash, sizes 14-45, ratios 30-160, cross-roller output bearing.

COMPONENT

Harmonic reducersZero BacklashCrossed roller bearingsLightweightComponent Set

CSG-2A Component Set

Ideal for high torque applications, CSG 2A is available in 10 sizes with gear reduction ratios from 50:1 to 160:1.

COMPONENT

Harmonic reducersZero BacklashCrossed roller bearingsComponent Set

CSG-2UH-LW Gear Unit

A lightweight version of our CSG-2UH high torque, compact precision gearhead. Zero backlash and exceptional accuracy and repeatability

COMPONENT

Harmonic reducersZero BacklashCrossed roller bearingsLightweightPrecision gear units

CSF-2UH-LW Gear Unit

A lightweight version of our CSF-2UH compact precision gearhead. Zero backlash and exceptional accuracy and repeatability.

COMPONENT

Harmonic reducersZero BacklashCrossed roller bearingsLightweightPrecision gear units

CSG-2UH Zero Backlash Gear Unit

CSG-2UH is a high torque housed component gear set combined with a precision cross roller output bearing & flange. It is a very compact, robust and easy to use gearhead solution. The CSG-2UH is available in 10 sizes with ratios 30:1 to 160:1.

COMPONENT

Harmonic reducersZero BacklashCrossed roller bearingsPrecision gear units

CSF-2UH Gear Unit

The CSF-2UH series is a compact precision gearhead with zero backlash and exceptional accuracy and repeatability.

COMPONENT

Harmonic reducersZero BacklashCrossed roller bearingsPrecision gear units

HarmonicGrease®

HarmonicGrease lubrication is offered in four varieties, each with unique characteristics.

COMPONENT

Harmonic reducersLubricating GreaseMaintenance and ServicingHarmonic Drive

Model Y Third-Harmonic Strain Wave Gear (YLHS)

Third-generation YLHS strain wave gear, sizes 17-40, ratios 80-160, rated torque 20-350 N·m, 10000 h design life.

COMPONENT

Harmonic reducersThird HarmonicHigh Torque DensityHumanoidCollaborative robots

LHS(G) High-Torque Hat-Type Strain Wave Gear

High-torque hat-type strain wave gear series, ratios 30-160, widely used in industrial and collaborative robot joints.

COMPONENT

Harmonic reducersHATHigh TorqueIndustrial ManipulatorCollaborative robots

LCS-Mini Cup-Shaped Strain Wave Gear

Miniature cup-shaped strain wave gears, sizes 3-11, rated torque 0.11-5 N·m, for dexterous hands and micro joints.

COMPONENT

Harmonic reducersMiniatureCup-ShapedDexterous HandMiniature Joint

LCD Ultra-Flat Cup-Shaped Strain Wave Gear

Ultra-flat cup-shaped strain wave gear series with ratios 50-160, rated torque 3.7-16 N·m and backlash within 10 arcsec for space-constrained robot joints.

COMPONENT

Harmonic reducersCup-ShapedUltra-thinRobot jointsPrecision transmission

HJ Series Harmonic Joint Module for Humanoid Robots

HJ series harmonic joint modules: harmonic reducer plus fully hardware FOC on chip-level FPGA with 20 kHz triple-loop control. Top model delivers 194 N·m peak torque at ratio 101, 24-bit encoder, EtherCAT/CAN/CANFD, power-off brake and hollow wiring for humanoid joints.

COMPONENT

Joint modulesHarmonic reducersHumanoidEtherCATLeadshine

Harmonic Drive FB-14-88-2-R Pancake Harmonic Gear Set (Zero Backlash, <3 arcmin)

Harmonic Drive FB-14-88-2-R pancake harmonic gear set (FB-2 family): size 14, ratio 88. Rated L10 torque 4.9 Nm, average limit 7.8 Nm, repeated peak 7.8 Nm, instantaneous peak 15.7 Nm, average input speed 2,500 rpm, backlash <3 arcmin, mass just 0.1 kg. The high-ratio ultra-flat design suits light-load joints and precision rotary mechanisms needing low speed and high torque.

COMPONENT

Harmonic reducersPancakeHarmonic DriveHigh Reduction RatioZero Backlash

Harmonic Drive FB-14-50-2-R Pancake Harmonic Gear Set (Zero Backlash, <3 arcmin)

Harmonic Drive FB-14-50-2-R pancake harmonic gear set (FB-2 family): size 14, ratio 50. Rated L10 torque 2.6 Nm, average limit 3.2 Nm, repeated peak 3.2 Nm, instantaneous peak 6.9 Nm, average input speed 2,500 rpm, backlash <3 arcmin, mass just 0.1 kg. Its ultra-thin flat profile suits space-constrained light-load joints, gimbals and rotary platforms.

COMPONENT

Harmonic reducersPancakeHarmonic DriveLight LoadZero Backlash

Harmonic Drive SHD-2SH Simplicity Super-Flat Harmonic Gear Unit (1-1.5 arcmin)

Zero backlash simplicity gear units with a large hollow input shaft and a robust cross roller bearing.

COMPONENT

Harmonic reducersUltra-thinHarmonic DriveSimplicityHigh Precision

Harmonic Drive FBS Hollow-Shaft Harmonic Gear Unit

Harmonic Drive FBS hollow-shaft harmonic gear units: sizes 25/32 with ratios 30/50/100 (6 models). Rated L10 torque 15-56 Nm, repeated peak 25-106 Nm, instantaneous peak 50-151 Nm, standard accuracy 2-3 arcmin, mass 1.3-2.2 kg. The large-bore hollow shaft routes cables, air lines and optical shafts through the axis, ideal for robot joints and rotary platforms needing in-axis wiring.

COMPONENT

Harmonic reducersHollow shaftsHarmonic DriveCrossing LineRobot joints

Harmonic Drive CSF-2UP Ultra-Flat Miniature Harmonic Gearhead

These new gear units have an ultra-flat configuration with high-moment stiffness.

COMPONENT

Harmonic reducersUltra-thinHarmonic DriveMiniatureZero Backlash

Harmonic Drive SHF-2A Silk-Hat Harmonic Component Gear Set (Zero Backlash, 1-2 arcmin)

Component set, silk hat type, the SHF-2A has a large hollow through hole and provides high torque capacity and exceptional positioning accuracy, all in a compact design.

COMPONENT

Harmonic reducersHarmonic DriveCrown-ShapeComponent-basedZero Backlash