Haozhi frameless torque motor for direct-drive collaborative-robot joints; globally optimized electromagnetic design with rare-earth PM, non-oriented cold-rolled silicon steel, corona-resistant magnet wire and Class-H insulation plus innovative winding and EM packaging for high torque density, ≤1% torque ripple, fast dynamic response, low temperature rise and light weight; 3.5x overload, turn-on voltage <24 V and holding voltage <7 V for lower heating, stable output across wide speed and load ranges.
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