HCFA Hu-GRS series planetary rotary joint actuator, flagship GRS150N: 40 N·m rated / 150 N·m peak torque, 125/138 rpm rated/peak speed, 880 W power, 48VDC. Integrated frameless torque motor + hollow flat planetary reducer + driver + dual absolute 17-bit encoders, 12.25:1 ratio, 15 arcmin backlash, Φ11.5mm hollow shaft, Φ124×66mm envelope, 1.66kg, CAN-FD. For high-torque hip and knee joints of humanoid robots.
COMPONENT
HCFA Hu-GRS series planetary rotary joint actuator GRS090N: 25 N·m rated / 90 N·m peak torque, 144/160 rpm rated/peak speed, 565 W power, 48VDC. Integrated frameless torque motor + hollow flat planetary reducer + driver + dual absolute 17-bit encoders, 13.19:1 ratio, 15 arcmin backlash, Φ6mm hollow shaft, Φ105×53mm envelope, 0.93kg, CAN-FD. For hip, knee and elbow joints of humanoid robots.
HCFA Hu-GRS series planetary rotary joint actuator GRS06N: 20 N·m rated / 60 N·m peak torque, 126/160 rpm rated/peak speed, 366 W power, 48VDC. Integrated frameless torque motor + hollow flat planetary reducer + driver + dual absolute 17-bit encoders, 18.8:1 ratio, 10 arcmin backlash, Φ7mm hollow shaft, Φ88×59.5mm envelope, 0.604kg, CAN-FD. For fast elbow and upper-limb joints of humanoid robots.
HCFA Hu-GRS planetary rotary joint actuator, entry model GRS036N: 9 N·m rated / 37.6 N·m peak torque, 77/100 rpm rated/peak speed, 138 W power, 48VDC. Integrated frameless torque motor + hollow flat planetary reducer + driver + single absolute 17-bit encoder, 36:1 ratio, 12 arcmin backlash, Φ56×59.5mm envelope, 0.385kg, CAN-FD. Suited for upper-limb and wrist joints of humanoid robots.
HCFA Hu-MRS series harmonic rotary joint actuator, flagship MRS220N: 120 N·m rated / 220 N·m peak torque, 30/40 rpm rated/peak speed, 587 W power. Integrated frameless torque motor + harmonic reducer + driver + dual absolute 17-bit encoders, Φ10.8mm hollow shaft, Φ110×72.1mm envelope, ~2kg, peak torque density 110 N·m/kg, 48VDC, 10 arcsec backlash, 101:1 ratio, CAN-FD/EtherCAT. For the heaviest humanoid hip and knee joints.
HCFA Hu-MRS series harmonic rotary joint actuator MRS120N: 60 N·m rated / 120 N·m peak torque, 30/40 rpm rated/peak speed, 301 W power. Integrated frameless torque motor + harmonic reducer + driver + dual absolute 17-bit encoders, Φ10.8mm hollow shaft, Φ90×71.63mm envelope, 1.41kg, 48VDC, 20 arcsec backlash, 101:1 ratio, CAN-FD/EtherCAT. For high-torque hip and shoulder joints of humanoid robots.
HCFA Hu-MRS series harmonic rotary joint actuator MRS070N: 40 N·m rated / 70 N·m peak torque, 30/40 rpm rated/peak speed, 268 W power. Integrated frameless torque motor + harmonic reducer + driver + dual absolute 17-bit encoders, Φ10.8mm hollow shaft, Φ80×73mm envelope, 0.907kg, 48VDC, 10 arcsec backlash, 101:1 ratio, CAN-FD/EtherCAT. For high-torque hip and knee joints of humanoid robots.
HCFA Hu-MRS series harmonic rotary joint actuator MRS040N: 15 N·m rated / 40 N·m peak torque, 30/40 rpm rated/peak speed, 70 W power. Integrated frameless torque motor + harmonic reducer + driver + dual absolute 17-bit encoders, Φ10.8mm hollow shaft, Φ70×64.3mm envelope, 0.7kg, 48VDC, 10 arcsec backlash, 101:1 ratio, CAN-FD/EtherCAT. For wrist, ankle and knee joints of humanoid robots.
Zhejiang HCFA (A-share 688320) Hu-MRS harmonic rotary joint actuator, entry model MRS012N: 8 N·m rated / 12 N·m peak torque, 30/40 rpm rated/peak speed, 38 W rated power. Integrated frameless torque motor + harmonic reducer + driver + dual absolute 17-bit encoders, Φ6.5mm hollow shaft, Φ52×52.1mm envelope, only 0.275kg, 48VDC, 20 arcsec backlash, 101:1 ratio, CAN-FD/EtherCAT. Suited for small humanoid joints (wrist, ankle).
