HSA32A integrated harmonic actuators, ratios 50-120, peak torque 238-571.2 Nm, continuous 68-163.2 Nm, output 96-40 rpm, 30 arcsec accuracy, IP65, 175x144 mm housing with 35 mm hollow bore, 7.5-8 kg, Tamagawa 17/16-bit absolute encoder, for heavy-duty joints and mobile bases.
COMPONENT
High torque-density integrated joint from CubeMars (Sanrui Intelligent) for humanoids and exoskeletons: 74 N·m rated / 222 N·m peak at only 1396 g (159 N·m/kg); 48:1 planetary reduction with 7 mm hollow bore, dual 21-bit magnetic encoders, integrated FOC driver, dual CAN, 48 V at 6 A rated / 18 A peak, 28 RPM rated, 12 arcmin backlash, listed at CNY 4888.
