SYT-RI-80-97

Name: SYT-RI-80-97
Brand: Shenzhen Seninter Precision Machinery Co.,Ltd.

Price Negotiable

Price: Negotiable

MOQ: Negotiable

Delivery Time: Negotiable

Brand: SENINTER

Product Description

Humanoid Robot Joint Module (Rotary Actuator) Structure – Core Components

Output Flange / Connector – Connects to robot links (e.g., lower leg, forearm), outputs torque and motion.

Torque Sensor (optional but common in high-performance designs) – Ring or spoke type, used for force control / collision detection.

Harmonic Drive – Consists of a wave generator, flexspline, and circular spline; mounted on the motor output shaft.

Frameless Torque Motor – Stator fixed to the housing, rotor connected to the wave generator.

Brake (Safety Holding Brake) – Locks the joint position when power is lost.

Dual Encoders – Motor-side encoder (measures speed/position) and output-side encoder (eliminates reducer backlash error); commonly used for full closed-loop control.

Driver (Servo Drive Board) – Integrated inside the module or in a compact package.

Housing / Cooling Structure – Aluminum alloy body with cable channels.

Drawing without brake

without brake Parameter Table

Parameter	Unit	Ratio 51	Ratio 81	Ratio 101	Ratio 121	Ratio 161
Gear Ratio	-	51	81	101	121	161
Peak Torque	N·m	121	169	194	207	217
Max Allowable Torque At Average Load (Robot Application)	N·m	68.5	107	133	133	133
Rated Torque @ 2000RPM (Industrial Application)	N·m	48	78	84	84	84
Peak Output Speed	RPM	65	43	36	30	22
Rated Speed (With 1/2 Rated Torque)	RPM	54	35	27	23	17
Gear Backlash	arcsec	20	20	10	10	10
Rated Power	W	750	750	750	750	750
Supply Voltage	V	24–48	24–48	24–48	24–48	24–48
Max Continuous Current	A	11.1	11.1	11.1	11.1	11.1
Rated Current	A	9.6	9.6	9.6	9.6	9.6
Torque Constant	N·m/A	0.143	0.143	0.143	0.143	0.143
Encoder Resolution	bit	16	16	16	16	16
Communication Bus	-	CAN	CAN	CAN	CAN	CAN
Hollow Shaft Diameter	mm	27	27	27	27	27
Total Length	mm	85.5±0.5	85.5±0.5	85.5±0.5	85.5±0.5	85.5±0.5
Mass	kg	1.5	1.5	1.5	1.5	1.5
Rotational Inertia	g·cm²	1477.6	1477.6	1477.6	1477.6	1477.6

Drawing with brake

With brake Parameter Table

Parameter	Unit	Ratio 51	Ratio 81	Ratio 101	Ratio 121	Ratio 161
Gear Ratio	-	51	81	101	121	161
Peak Torque	N·m	121	169	194	207	217
Max Allowable Torque At Average Load (Robot Application)	N·m	68.5	107	133	133	133
Rated Torque @ 2000RPM (Industrial Application)	N·m	48	78	84	84	84
Peak Output Speed	RPM	65	43	36	30	22
Rated Speed (With 1/2 Rated Torque)	RPM	54	35	27	23	17
Gear Backlash	arcsec	20	20	10	10	10
Rated Power	W	750	750	750	750	750
Supply Voltage	V	24–48	24–48	24–48	24–48	24–48
Max Continuous Current	A	11.1	11.1	11.1	11.1	11.1
Rated Current	A	9.6	9.6	9.6	9.6	9.6
Torque Constant	N·m/A	0.143	0.143	0.143	0.143	0.143
Encoder Resolution	bit	16	16	16	16	16
Communication Bus	-	CAN	CAN	CAN	CAN	CAN
Hollow Shaft Diameter	mm	27	27	27	27	27
Total Length	mm	105.5±0.5	105.5±0.5	105.5±0.5	105.5±0.5	105.5±0.5
Mass	kg	1.63	1.63	1.63	1.63	1.63
Rotational Inertia	g·cm²	1761.1	1761.1	1761.1	1761.1	1761.1

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Company Shenzhen Seninter Precision Machinery Co.,Ltd.

Location Shenzhen, Guangdong, P.R.China

Contact Person Tony-yin

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