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The Huayan humanoid joint module integrates a high-performance frameless torque motor, precision reducer, 19-bit high-resolution encoder, high-sensitivity torque sensor, high-performance drive controller, and intelligent algorithms into a single unit. It offers hardware advantages such as high power density, lightweight design, and high reliability, along with real-time servo control and force-control algorithm capabilities, enabling humanoid robots to achieve precise motion, compliant interaction, and safe, dependable operation.
Deeply coupled motor, reducer, encoder, and drive controller, featuring hollow wiring for ultra-lightweight, fully integrated construction.
Featuring a high-precision dual-magnetic encoder system with up to 19-bit resolution to meet demanding motion control requirements. Real-time joint state monitoring supports advanced adaptive control.
Based on its high torque density, it delivers high torque output within a compact form factor, significantly improving the power-to-weight ratio.
Equipped with an ultra-high-sensitivity torque sensor, deeply integrated with proprietary force-control algorithms to enhance the humanoid-like behavior of the robot.
Cables pass through the center of the joint, reduce twisting and bending while enabling a more compact structure, easier maintenance, and cleaner integration.
With over 20 years of experience in the development and application of collaborative robot joint modules, Huayan Robotics have established a complete, stable, and controllable system for design, analysis, manufacturing, and production.
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Model |
Model 11 | Model 14 | Model 17 | Model 20 | Model 25 | Model 32 |
| Maximum Outer Diameter (mm) | 55 | 62 | 72 | 84 | 100 | 132 |
| Length (mm) | 65 | 75 | 85 | 98 | 109 | 148 |
| Inner Hole Diameter（mm） | 12 | 9 | 9 | 13 | 16 | 23 |
| Weight (kg) | 0.39 | 0.685 | 1.07 | 1.07 | 2.53 | 5.8 |
| Speed Ratio | 100 | 100 | 100 | 100 | 100 | 120 |
| Maximum Output Speed (rpm) | 30 | 30 | 30 | 30 | 30 | 20 |
| Rated Torque (Nm) | 7.7 | 16 | 33 | 59 | 112 | 281 |
| Peak Torque (Nm) | 19 | 35 | 70 | 107 | 204 | 459 |
| Rated Current (A) |
2 |
2 |
4 |
6 |
16 |
22 |
| Peak Current (A) | 5 | 6 | 12 | 14.5 | 35 | 65 |
| Repeatability (arc sec) | ≤30 | ≤30 | ≤30 | ≤30 | ≤30 | ≤30 |
| Working Temperature (°C) | 0~45 | 0~45 | 0~45 | 0~45 | 0~45 | 0~45 |
| Rated Voltage (V) | DC48V | DC48V | DC48V | DC48V | DC48V | DC48V |
| Communication | EtherCAT | EtherCAT | EtherCAT | EtherCAT | EtherCAT | EtherCAT |
| Encoder | Dual Magnetic Grating Encoder |
Dual Magnetic Grating Encoder |
Dual Magnetic Grating Encoder |
Dual Magnetic Grating Encoder |
Dual Magnetic Grating Encoder |
Dual Magnetic Grating Encoder |
| Brake | \ | Electromagnetic Friction Brake |
Electromagnetic Friction Brake |
Electromagnetic Friction Brake |
Electromagnetic Friction Brake |
Electromagnetic Friction Brake |
| Torque Sensor | Standard | Standard | Standard | Standard | Standard | Standard |
