HU Robot Joint Actuator

The HU series Joint actuator are optimized and upgraded based on self-developed servo driver and absolute encoder technology, and are committed to providing customers with simpler, more efficient and safer robot solutions.

Max rated torque: 320NM
Peak Speed : 100RPM
Rated Voltage: 24-48V
Communication: Canopen/Ethercat

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This series joint module motor highly integrating key components in a limited space greatly reduces customers’ manpower and time investment in device selection, structural design, procurement and assembly, and significantly improves development efficiency.

CANopen/Ethercat Protocol

HU Series Robot Joint Actuator
OD52~170mm Robot Joint Actuator
19.8~320Nm rated torque
24~48VDC voltage

HU series joint actuators quick selection table

Model	HU11H-52	HU14H-70	HU17H-80	HU20H-90	HU25H-110	HU32H-142	HU40H-170
Gear ratio	51/101	51/101	51/101	81/101/121	81/101/121	81/101/121/161	81/101/121/161
Rated torque (N.m) at 2000 rpm	3.5/5	6.6/9.6	19.8/30	42/50/50	78/84/84	146/169/169/169	255/320/320/320
Rated speed at the output(rpm)	39/20	39/20	39/20	20/25/17	25/20/17	25/20/17/12	25/20/17/12
Hollow diameter (mm)	8	10.8	10.8	13	13	22	23
Brake (B/N)	B/N	B/N	B/N	B/N	B/N	B/N	B/N
Weight (kg)	0.44/0.4	0.89/0.81	1.25/1.14	1.74/1.58	2.54/2.35	6.31/5.83	9.34/8.7
Rated operating voltage(V)	48V
Dimensions (outer diameter x axial direction)（mm）	Ф52 x 63	Ф70x 75.4	Ф80 x 78	Ф90 x 85.8	Ф110 x 94	Ф142x 144	Ф170x 149

Product structure

① High-performance servo driver ②Double absolute magnetic braiding 19bit ③Ultra-thin drop lock ④Frameless torque motor ⑤High precision harmonic reducer

Product Features

This serie robot joint modules are highly integrated frameless torque motor, servo driver, high precision encoder and harmonic reducer.

Highly integrated

Highly integrating key components such as servo drives, motor-side and output-side dual absolute encoders, frameless torque motors, brakes and precision harmonic reducers in a limited space, significantly reducing customers' manpower and time investment in device selection, structural design, procurement and assembly, and significantly improving development efficiency.

Double closed loop feedback

A neural circuit with precise bidirectional calibration and real-time correction is constructed, which is the fundamental guarantee for achieving high dynamic and high-precision motion control.

Support STO function

This function uses dual-channel independent hardware interlocking to physically cut off the torque output from the source within microseconds, while retaining the system's perception and recovery capabilities - this is the necessary cornerstone for collaborative robots to obtain human-machine integration safety qualifications and enter the complex application market.

No gap No backlash

It adopts zero-backlash harmonic transmission design to ensure two-way motion engagement without backlash. Transmission error of ≤20 arc seconds provides a nanoscale response basis for trajectory repeatability and cutting roundness.

Support CANopen and Ethercat

Standard CANopen and EtherCAT communication interfaces, compatible with various mainstream controllers. Make system integration more flexible and efficient

19bit dual magnetic encoder

The joint module achieves both the "smartness" of optical-level resolution and the "solidness" of magnetic non-contact sensing, and achieves self-diagnosis and functional safety with "dual" channel redundancy. It is a key technology choice for collaborative robots to strike a balance between control accuracy and industrial reliability.

Product interface design

Poduct Application

This HU series harmonic joint module is the core actuating component for humanoid robots to achieve human-like movements, are mainly used for humanoid robot, Surgical assistance robot, Industrial robots, fire-fighting robot, Mobile robot and etc.

Bionic and Specialized Robots

Mobile composite robot

Medical rehabilitation

Anti-explosion inspection robot

Model	HU11L-52	HU11H-52	HU11H-60	HU14H-70	HU17H-80	HU20H-90	HU25H-110	HU32H-142	HU40H-170
Gear ratio	51/101	51/101	51/101	51/101	51/101	81/101/121	81/101/121	81/101/121/161	81/101/121/161
Rated torque (N.m) at 2000 rpm	2.4/3	3.5/5	3.5/5	6.6/9.6	19.8/30	42/50/50	78/84/84	146/169/169/169	255/320/320/320
Peak torque (N.m)	5.8/6.5	8.3/11	8.3/11	23/34	42/66	91/102/108	169/194/207	376/411/436/459	641/702/762/800
The maximum allowable torque（N. m）	11.5/15	17/25	17/25	43/66	86/134	158/182/182	315/351/376	702/800/848/848	1210/1334/1458/1458
Rated speed at the output(rpm)	39/20	39/20	39/20	39/20	39/20	20/25/17	25/20/17	25/20/17/12	25/20/17/12
Peak speed (rpm)	100/50	100/50	100/50	90/45	88/44	38/31/25	44/36/30	30/24/20/15	30/24/20/15
Brake (B/N)	B/N	B/N	B/N	B/N	B/N	B/N	B/N	B/N	B/N
Backlash（Arcsec）	≤30	≤30	≤20	≤20	≤20	≤20	≤20	≤20	≤20
Hollow diameter (mm)	8	8	8	10.8	10.8	13	13	22	23
Weight (kg)	0.39/0.35	0.44/0.40	0.59/0.54	0.89/0.81	1.25/1.14	1.74/1.58	2.54/2.35	6.31/5.83	9.34/8.7
Dimensions (outer diameter x axial direction)（mm）	Ф52 x 63	Ф52 x 68	Ф60 x 68.5	Ф70x 75.4	Ф80 x 78	Ф90 x 85.8	Ф110 x 94	Ф142x 144	Ф170x 149
Output radial (dynamic/static) allowable load (N)	130	130	130	270	400	650	900	1350	2000
Output axial (dynamic/static) allowable load (N)	130	130	130	270	400	650	900	1350	2000
Rated operating voltage（VDC）	48
Operating voltage range（VDC）	24-48
Encoder/bit（bit）	Dual absolute / 19-bit motor end & 19-bit reducer end							Double absolute / Input 17 & Output 19
Communication Protocol	EtherCAT / CANopen
Control Mode	Profile Position Mode (PP), Profile Speed Mode (PV), Profile Torque Mode (PT), Cyclic Synchronous Position Mode (CSP), Cyclic Synchronous Speed Mode (CSV), etc.
Operating ambient temperature (°C)	-20~60
Enclosure operating temperature rise (°C)	≤60								≤80

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