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Harmonic joint modules
A flexspline deforming under load gives high reduction in one stage, near-zero backlash and the highest torque density of any reducer — which is why every humanoid arm, leg and waist axis we supply is harmonic. Our harmonic lines run from Φ43 to Φ170 frames at 1.65 to 382 N·m rated.
Tongchuan (TC Drive / HarmoCore) — TCHL lightweight harmonic actuators
Six frames, Φ52–Φ131, each offered in three reduction ratios. 48 V DC · EtherCAT / CAN-FD · dual 17-bit single-turn absolute encoder · transmission accuracy ≤60 arcsec, repeatability ≤10 arcsec · IP54. Rated torque is quoted at 2000 rpm input at the highest ratio listed; holding-brake variants (-B) exist for every frame. Source: 2026 Tongchuan actuator selection manual (English), pp. 48–58.
| Model | Size (OD × L) | Ratios | Rated @2000 rpm (N·m) | Peak start/stop (N·m) | Peak output (N·m) | Weight | Through-bore |
|---|---|---|---|---|---|---|---|
| TCHL-11 | Φ52 × 57 | 50 / 80 / 100 | 5.3 | 19 | 25 | 0.37 kg | Φ8 |
| TCHL-14 | Φ65 × 55 | 51 / 81 / 101 | 6.5 | 24 | 36 | 0.45 kg | Φ10 |
| TCHL-17 | Φ77 × 76 | 51 / 81 / 101 | 29 | 67 | 136 | 0.93 kg | Φ12 |
| TCHL-20 | Φ87 × 77.5 | 51 / 81 / 101 | 49 | 102 | 181 | 1.28 kg | Φ12 |
| TCHL-25 | Φ99 × 87 | 81 / 101 / 121 | 83 | 194 | 351 | 1.85 kg | Φ15 |
| TCHL-32 | Φ131 × 103.5 | 81 / 101 / 121 | 169 | 411 | 799 | 3.30 kg | Φ22 |
Crabnova (Juxiedrive) — RB Lite series
Lightweight harmonic joints, 101:1, 0.26–0.74 kg. 48 V DC · CANopen / CAN-FD / EtherCAT · dual 23-bit magnetic encoder · ≤30 arcsec. Source: 巨蟹智能产品册 V3.0.1, p. 5.
| Model | Ratio | Rated (N·m) | Peak (N·m) | Weight | Size (OD × L) | Through-bore | Typical axis |
|---|---|---|---|---|---|---|---|
| CE-RB-R48-101-Lite | 101:1 | 5 | 11 | 0.26 kg | Φ48 × 45.5 | Φ8 | Neck, wrist |
| CE-RB-R58-101-Lite | 101:1 | 20 | 45 | 0.46 kg | Φ58 × 58.0 | Φ8 | Wrist, elbow |
| CE-RB-R68-101-Lite | 101:1 | 33 | 82 | 0.74 kg | Φ68 × 73.3 | Φ18 | Shoulder, elbow |
Crabnova (Juxiedrive) — RB DNN base series
Base harmonic joints, 101:1, 0.27–1.26 kg. 48 V DC · CANopen / CAN-FD / EtherCAT · dual 23-bit magnetic encoder · ≤30 arcsec. Source: 巨蟹智能产品册 V3.0.1, p. 6.
| Model | Ratio | Rated (N·m) | Peak (N·m) | Weight | Size (OD × L) | Through-bore | Typical axis |
|---|---|---|---|---|---|---|---|
| CE-RB-R48-101-DNN | 101:1 | 6.5 | 16 | 0.27 kg | Φ48 × 53.6 | Φ8 | Neck, wrist |
| CE-RB-R58-101-DNN | 101:1 | 20 | 45 | 0.55 kg | Φ58 × 65.2 | Φ8 | Wrist, elbow |
| CE-RB-R68-101-DNN | 101:1 | 33 | 82 | 0.83 kg | Φ68 × 77.6 | Φ12 | Shoulder, elbow |
| CE-RB-R83-101-DNN | 101:1 | 53 | 120 | 1.26 kg | Φ83 × 78.8 | Φ12 | Shoulder, elbow |
Crabnova (Juxiedrive) — RB FBN waist series
Waist-dedicated harmonic joints, up to 300 N·m rated. 48 V DC · CANopen / CAN-FD / EtherCAT · ≤30 arcsec. Source: 巨蟹智能产品册 V3.0.1, p. 6.
| Model | Ratio | Rated (N·m) | Peak (N·m) | Weight | Size (OD × L) | Through-bore | Typical axis |
|---|---|---|---|---|---|---|---|
| CE-RB-R83-101-FBN | 101:1 | 53 | 120 | 1.40 kg | Φ83 × 74.0 | Φ12 | Waist |
| CE-RB-R102-161-FBN | 161:1 | 147 | 350 | 2.20 kg | Φ102 × 90.3 | Φ20 | Waist |
| CE-RB-R120-161-FBN | 161:1 | 180 | 450 | 4.10 kg | Φ120 × 110.3 | Φ23 | Waist |
| CE-RB-R120-MAX-161-FBN | 161:1 | 300 | 600 | 4.60 kg | Φ120 × 125.0 | Φ23 | Waist |
Crabnova (Juxiedrive) — RBV3 performance series
Same frames with a holding brake and torque sensor built in. Adds a power-off holding brake and torque sensor (≤0.5% FS, 0.1% FS resolution) in the same envelope. Torque figures per our datasheet — the RBV3 table in catalogue V3.0.1 is not machine-readable, so these are confirmed with the factory at quotation.
| Model | Ratio | Rated (N·m) | Peak (N·m) | Weight | Size (OD × L) | Through-bore | Typical axis |
|---|---|---|---|---|---|---|---|
| CE-RBV3-R68-101 | 101:1 | 33 | 82 | 1.15 kg | Φ68 × 82.6 | — | Shoulder, elbow |
| CE-RBV3-R83-101 | 101:1 | 53 | 120 | 1.60 kg | Φ83 × 79.3 | — | Shoulder, waist |
| CE-RBV3-R102-161 | 161:1 | 147 | 350 | 2.60 kg | Φ102 × 89.6 | — | Waist, knee |
| CE-RBV3-R120-161 | 161:1 | 180 | 450 | 4.10 kg | Φ120 × 116.3 | — | Waist, knee |
Crabnova (Juxiedrive) — RMV3 industrial series
Seven frames, Φ52–Φ170, two ratios each. 48 V DC · CANopen / CAN-FD / EtherCAT · dual 23-bit magnetic encoder · ≤30 arcsec · holding brake · >10,000 h life. Source: 巨蟹智能产品册 V3.0.1, p. 12.
| Model | Ratio | Rated (N·m) | Peak (N·m) | Weight | Size (OD × L) | Through-bore |
|---|---|---|---|---|---|---|
| CE-RMV3-R52 | 51:1 | 3.5 | 8.3 | 0.45 kg | Φ52 × 57 | Φ11 |
| CE-RMV3-R52 | 101:1 | 5.0 | 11 | 0.45 kg | Φ52 × 57 | Φ11 |
| CE-RMV3-R70 | 51:1 | 7 | 23 | 0.80 kg | Φ70 × 58.5 | Φ18 |
| CE-RMV3-R70 | 101:1 | 10 | 36 | 0.80 kg | Φ70 × 58.5 | Φ18 |
| CE-RMV3-R80 | 51:1 | 21 | 44 | 1.18 kg | Φ80 × 63.9 | Φ18 |
| CE-RMV3-R80 | 101:1 | 31 | 70 | 1.18 kg | Φ80 × 63.9 | Φ18 |
| CE-RMV3-R90 | 51:1 | 33 | 73 | 1.62 kg | Φ90 × 69.5 | Φ18 |
| CE-RMV3-R90 | 101:1 | 52 | 107 | 1.62 kg | Φ90 × 69.5 | Φ18 |
| CE-RMV3-R110 | 51:1 | 51 | 127 | 2.46 kg | Φ110 × 78 | Φ28 |
| CE-RMV3-R110 | 101:1 | 87 | 204 | 2.46 kg | Φ110 × 78 | Φ28 |
| CE-RMV3-R142 | 101:1 | 178 | 433 | 4.80 kg | Φ142 × 96.5 | Φ36 |
| CE-RMV3-R142 | 161:1 | 178 | 484 | 4.80 kg | Φ142 × 96.5 | Φ36 |
| CE-RMV3-R170 | 101:1 | 345 | 738 | 8.00 kg | Φ170 × 110 | Φ40 |
| CE-RMV3-R170 | 161:1 | 382 | 841 | 8.00 kg | Φ170 × 110 | Φ40 |
EYOU — PHA lightweight series
Single 101:1 ratio, 207–900 g, the smallest frames we carry. Lightest harmonic line in the catalogue. Rated torque at 2000 rpm input. Source: 意优科技选型手册 2026.08, p. 9.
| Model | Size (OD × L) | Ratio | Rated @2000 (N·m) | Avg output (N·m) | Peak start/stop (N·m) | Instant. max (N·m) | Weight | Voltage |
|---|---|---|---|---|---|---|---|---|
| PHA08L-101-C | Φ43 × 48.3 | 101:1 | 1.65 | 2.3 | 3.3 | 6.3 | 207 g | 24–36 V |
| PHA11H-101-C | Φ52 × 55.5 | 101:1 | 5 | 8.9 | 11 | 25 | 375 g | 24–48 V |
| PHA14H-101-C | Φ70 × 61.5 | 101:1 | 9.6 | 13.5 | 34 | 66 | 645 g | — |
| PHA17H-101-C | Φ80 × 68 | 101:1 | 30 | 49 | 66 | 134 | 900 g | — |
EYOU — PHU enhanced series
Dual absolute encoder, ±0.5% FS force control at 8 kHz, Φ40–Φ170. Rated torque at 2000 rpm input. -F variants add an output flange. PHU25H-110 is held ex-stock. Source: 意优科技选型手册 2026.08, pp. 3–5.
| Model | Size (OD × L) | Ratio | Rated @2000 (N·m) | Avg output (N·m) | Peak start/stop (N·m) | Instant. max (N·m) | Weight |
|---|---|---|---|---|---|---|---|
| PHU08L-40 | Φ40 × 56 | 51:1 | 1.25 | 1.6 | 2.3 | 4.6 | 196 g |
| PHU08L-40 | Φ40 × 56 | 101:1 | 1.65 | 2.3 | 3.3 | 6.3 | 196 g |
| PHU11H-52 | Φ52 × 70 | 51:1 | 3.5 | 5.5 | 8.3 | 17 | 403 g |
| PHU11H-52 | Φ52 × 70 | 101:1 | 5 | 8.9 | 11 | 25 | 403 g |
| PHU11H-60 | Φ60 × 68.5 | 51:1 | 3.5 | 5.5 | 8.3 | 17 | 543 g |
| PHU11H-60 | Φ60 × 68.5 | 101:1 | 5 | 8.9 | 11 | 25 | 543 g |
| PHU14H-70 | Φ70 × 75.4 | 51:1 | 6.6 | 8.6 | 23 | 43 | 812 g |
| PHU14H-70 | Φ70 × 75.4 | 101:1 | 9.6 | 13.5 | 34 | 66 | 812 g |
| PHU17H-80 | Φ80 × 78 | 51:1 | 19.8 | 32 | 42 | 86 | 1143 g |
| PHU17H-80 | Φ80 × 78 | 101:1 | 30 | 49 | 66 | 134 | 1143 g |
| PHU20H-90 | Φ90 × 85.8 | 81:1 | 42 | 58 | 91 | 158 | 1582 g |
| PHU20H-90 | Φ90 × 85.8 | 101:1 | 50 | 61 | 102 | 182 | 1582 g |
| PHU20H-90 | Φ90 × 85.8 | 121:1 | 50 | 61 | 108 | 182 | 1582 g |
| PHU25H-110 | Φ110 × 94 | 81:1 | 78 | 107 | 169 | 315 | 2354 g |
| PHU25H-110 | Φ110 × 94 | 101:1 | 84 | 133 | 194 | 351 | 2354 g |
| PHU25H-110 | Φ110 × 94 | 121:1 | 84 | 133 | 207 | 376 | 2354 g |
| PHU32H-142 | Φ142 × 144 | 101:1 | 169 | 267 | 411 | 800 | 5650 g |
| PHU32H-142 | Φ142 × 144 | 121:1 | 169 | 267 | 436 | 848 | 5650 g |
| PHU40H-170 | Φ170 × 149 | 101:1 | 320 | 460 | 702 | 1334 | 8520 g |
| PHU40H-170 | Φ170 × 149 | 121:1 | 320 | 557 | 762 | 1458 | 8520 g |
EYOU — RHU humanoid series
Large through-bore, humanoid leg and waist axes, Φ52–Φ130. Rated torque at 2000 rpm input; 120:1 and 160:1 on the two largest frames. Source: 意优科技选型手册 2026.08, pp. 6–7.
| Model | Size (OD × L) | Ratio | Rated @2000 (N·m) | Avg output (N·m) | Peak start/stop (N·m) | Instant. max (N·m) | Weight |
|---|---|---|---|---|---|---|---|
| RHU14L-52 | Φ52 × 61.1 | 50:1 | 3.7 | 4.8 | 12 | 24 | 382 g |
| RHU14L-52 | Φ52 × 61.1 | 100:1 | 5.4 | 7.7 | 19 | 35 | 382 g |
| RHU17L-60 | Φ60 × 66 | 50:1 | 11 | 18 | 23 | 48 | 521 g |
| RHU17L-60 | Φ60 × 66 | 100:1 | 16 | 27 | 37 | 71 | 521 g |
| RHU20L-70 | Φ70 × 68 | 50:1 | 17 | 24 | 39 | 69 | 811 g |
| RHU20L-70 | Φ70 × 68 | 100:1 | 28 | 34 | 57 | 95 | 811 g |
| RHU25L-80 | Φ80 × 80.5 | 50:1 | 27 | 38 | 69 | 127 | 1266 g |
| RHU25L-80 | Φ80 × 80.5 | 100:1 | 47 | 75 | 110 | 184 | 1266 g |
| RHU32H-120 | Φ120 × 126 | 120:1 | 124 | 197 | 270 | 848 | 4080 g |
| RHU32H-120 | Φ120 × 126 | 160:1 | 169 | 267 | 459 | 848 | 4080 g |
| RHU40H-130 | Φ130 × 136 | 120:1 | 248 | 448 | 648 | 1458 | 5820 g |
| RHU40H-130 | Φ130 × 136 | 160:1 | 363 | 557 | 800 | 1458 | 5820 g |
Planetary joint modules
Load spread across several planet gears: lower cost at the same size, higher efficiency and far better tolerance of shock loads and reversing torque. Pick planetary for lifting axes, mobile platforms, grippers and anything that gets hit — and expect more backlash than a harmonic drive.
EYOU — RP humanoid planetary joints
Planetary reduction for leg and mobile-platform axes, 215–1075 g. 48 V · reverse backlash ≤12 arcmin · dual absolute encoder · CANopen · IP54 · rated speed 115–150 rpm. Torque figures are the rated and peak output columns of the catalogue; a few cells were reconstructed from the PDF table, so we confirm them with the factory at quotation. Source: 意优科技选型手册 2026.08, p. 11.
| Model | Size (OD × L) | Through-bore | Weight | Ratio | Rated power (W) | Rated speed (rpm) | Rated torque (N·m) | Peak torque (N·m) |
|---|---|---|---|---|---|---|---|---|
| RP40C | Φ45 × 52 | Φ4 | 215 g | 25:1 | 25 | 120 | 2 | 6 |
| RP50L | Φ59 × 53.5 | Φ5 | 410 g | 19.53:1 | 79 | 150 | 5 | 15 |
| RP50H | Φ59 × 59.5 | Φ5 | 465 g | 19.53:1 | 157 | 150 | 10 | 30 |
| RP70L | Φ77 × 52.5 | Φ6 | 670 g | 20:1 | 163 | 130 | 12 | 36 |
| RP70H | Φ77 × 58.3 | Φ6 | 760 g | 20:1 | 223 | 125 | 17 | 60 |
| RP90L | Φ96.5 × 56 | Φ8 | 1075 g | 21.91:1 | 421 | 115 | 35 | 120 |
EYOU — PP planetary joint modules
Small-frame planetary joints, Φ32–Φ52, 86–521 g. Low-ratio planetary modules for light axes, grippers and mobile platforms. Rated torque at the rated speed shown. Voltage and protocol per datasheet — ask us for the exact build. Source: 意优科技选型手册 2026.08, p. 12.
| Model | OD | Length | Weight | Ratio | Rated power (W) | Rated speed (rpm) | Rated torque (N·m) | Peak torque (N·m) |
|---|---|---|---|---|---|---|---|---|
| PP05 | Φ32 | 34.2 mm | 86 g | 6:1 | 35 | 50 | 0.2 | 0.48 |
| PP08 | Φ40 | 56.4 mm | 189 g | 36:1 | 36 | 50 | 1.0 | 2.2 |
| PP08D | Φ40 | 47.7 mm | 199 g | 36:1 | 36 | 50 | 1.0 | 2.2 |
| PP11 | Φ52 | 67.6 mm | 390 g | 36:1 | 60 | 50 | 6.6 | 10 |
| PP11D | Φ52 | 61.2 mm | 437 g | 36:1 | 60 | 50 | 6.6 | 10 |
| PP11L | Φ52 | 84.3 mm | 521 g | 36:1 | 72 | 50 | 10 | 18 |
Compact & miniature rotary joints
Compact integrated actuators and miniature joints that do not fall neatly into either reducer family. We are confirming the reduction architecture of these two lines with the manufacturers — ask us if the distinction matters for your axis.
Ti5 Robotics — PRO and PRO-S rotary actuators
Wide 24–80 V input, OD from Φ30. Figures per our current datasheet; we are re-checking them against the latest Ti5 catalogue and will update this table. Tell us the axis and we will confirm before quoting.
| Model | OD | Ratio | Rated @2000 (N·m) | Start-stop peak (N·m) | Weight | Length (mm) |
|---|---|---|---|---|---|---|
| CRA-RI30-40-PRO | Φ30 | 51 / 101 | 1.8 / 2.4 | 3.3 / 4.8 | 0.19 kg | 60.0 |
| CRA-RI40-52-PRO | Φ40 | 51 / 101 | 3.5 / 5 | 8.3 / 11 | 0.32 kg | 62.0 |
| CRA-RI50-70-PRO | Φ50 | 51 / 81 / 101 | 6.6 / 9.6 / 9.6 | 23 / 29 / 34 | 0.66 kg | 63.0 |
| CRA-RI60-80-PRO | Φ60 | 51 / 81 / 101 / 121 | 19.8 / 27.5 / 30 / 30 | 42 / 53 / 66 / 66 | 1.03 kg | 72.5 |
| RI50-60-PRO-S | Φ50 | 51:1 | 6.6 | 23 | 0.45 kg | — |
| RI60-70-PRO-S | Φ60 | 51:1 | 19.8 | 42 | 0.73 kg | — |
| RI80-97-PRO-S | Φ80 | 101:1 | 84 | 194 | 1.50 kg | — |
| RI100-120-PRO-S | Φ100 | 101:1 | 169 | 411 | 2.52 kg | — |
DAMIAO — DM-J miniature brushless joints
Hands, wrists and light axes; MIT-mode CAN control. Figures per our current datasheet, pending a full catalogue check.
| Series | Typical use | Control | Note |
|---|---|---|---|
| DM-J3507 | Finger / wrist axes | CAN (MIT mode) | Miniature, compact matching controller |
| DM-J4310 | Wrist / forearm axes | CAN (MIT mode) | Higher torque step |
| DM-J8006 / J8009 | Light arm axes | CAN (MIT mode) | Larger frame options |
Specs quoted from manufacturer datasheets; final figures confirmed at quotation.
Beyond these lines
Five manufacturers is what we can publish full tables for, not all we can supply. Other module makers, frameless motors and drivers, torque sensors, brakes, machined brackets and harnesses — quote them to us and we will put them on the same purchase order and the same shipment. What else we source →