Humanoid Robot Harmonic Gear Drive Joint Motor With Torque Sensor
Description of TCHL Harmonic Gear Motor
The TCHL Harmonic Joint Module is a harmonic joint module that integrates a torque sensor directly into the harmonic drive reducer. The torque sensor enables precise measurement of the drive system’s operating status and required torque values, allowing accurate load detection of the actuator. This helps prevent overload and enables safer human–robot interaction.
The module features fully integrated cables and connectors, allowing fast, precise component connections and enabling safe, responsive motion control through a highly integrated design.
Features of TCHL Harmonic Motor with Torque Sensor
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Integrated force/torque sensor on the reducer side, enabling closed-loop force and position control
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Fully integrated cables and connectors for simpler and more reliable robot wiring
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Ultra-lightweight design: the 14-size model weighs only 0.5 kg
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Innovatively integrated electrical connectors, supporting flexible and diverse installation configurations
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Supports CAN and EtherCAT communication protocols
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Integrated power supply and multi-protocol bus, capable of passing through the hollow shaft of size 14 and above
Specification of TCHL Harmonic Joint Motor
| TCHL Parameters | unit |
11 (φ52) |
14 (φ65) |
17 (φ77) |
20 (Φ87) |
25 (Φ99) |
32 (φ131) |
Ratio |
Unit | 100 | 101 | 101 | 101 | 101 | 101 |
| Rated Output Torque | N.m | 7.7 | 9.5 | 48 | 61 | 133 | 267 |
Peak Torque for Start/Stop |
N.m | 19 | 24 | 67 | 102 | 194 | 411 |
Peak Output Torque |
N.m | 25 | 44 | 136 | 181 | 351 | 799 |
Rated Output Speed |
rpm | 30 | 29.7 | 29.7 | 29.7 | 29.7 | 29.7 |
Peak Output Speed |
rpm | 40 | 39.6 | 39.6 | 39.6 | 39.6 | 39.6 |
Rated Voltage |
V | 48 | |||||
Output Moment of Inertia |
Kg.m^2 | 0.048 | 0.1 | 0.45 | 0.7 | 1.9 | 6 |
Allowable Overturning Moment |
N.m | 25 | 30 | 93 | 120 | 150 | 210 |
Transmission Error |
arcsec | ≤60 | ≤60 | ≤60 | ≤60 | ≤60 | ≤60 |
Torque Sensor |
Optional | ||||||
Brake |
Optional | ||||||
| Encoder | I/O Dual Encoder,Single-turn Absolute Encoder,23 bit |
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Driver Board Protocol |
EtherCAT canFD support available after October 2025 |
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Usage Environment Temperature |
-20℃~50℃ | ||||||
IP class |
IP54, IP65 after connector upgrade. | ||||||
Dimension(φxH) |
mm | φ52*57 | φ65*55 | φ77*76 | φ87*77.5 | φ99*87 | φ131*99 |
Hollow Diameter |
mm | 8 | 10 | 12 | 12 | 15 | 22 |
Weight(without Brake) |
Kg | 0.35 | 0.5 | 1.1 | 1.4 | 1.85 | 3.3 |
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