Product Description

HA Series joint actuators feature high performance, high dynamic response, and lightweight design. They can be used in applications such as collaborative robot arms, robots, semiconductor equipment, and biomedical devices. Their standardized design enables more efficient, convenient, and safer system development.

HA Series joint actuators have passed the CR Product Certification for Integrated Humanoid Robot Joints and CE certification. The CR reliability level is L5, with an MTBF of ≥100,000 hours and a service life of ≥30,000 hours. It is also the first joint actuator product in China to pass this certification.

Product parameters

Model	Reduction Ratio	Rated Torque / Nm	Maximum Allowable Torque for Average Load / Nm	Maximum Allowable Peak Torque During Start/Stop / Nm	Peak Torque / Nm	Rated Speed / rpm	Maximum No-load Speed / rpm	Dimensions / mm	Hollow Bore Diameter / mm	Weight / g (Excluding Brake)	Encoder Resolution (Absolute)	Rated Voltage / V
HA40H	51	1.6	2.3	3.3	4.6	108	143	Φ40 × 55	No Hollow Bore	170	19	48
	101	2.3	3.3	4.8	6.3	54	72	Φ40 × 55	No Hollow Bore	170	19	48
HA55H	51	3.7	4.8	12	24	77.7	100	Φ55 × 70	8.4	445	19	48
	81	5.4	7.7	19	35	46	63	Φ55 × 70	8.4	445	19	48
	101	5.4	7.7	19	35	37	50	Φ55 × 70	8.4	445	19	48
HA60H	51	11	18	23	48	70	96	Φ62 × 76	8.5	650	19	48
	81	13.7	19	30	61	44	60	Φ62 × 76	8.5	650	19	48
	101	16	27	37	71	35	48	Φ62 × 76	8.5	650	19	48
	121	16	27	37	71	29	40	Φ62 × 76	8.5	650	19	48
HA70H	51	17	24	39	69	62	76	Φ70 × 76	12	815	19	48
	81	24	33	51.6	89	39	48	Φ70 × 76	12	815	19	48
	101	28	34	57	95	31	38	Φ70 × 76	12	815	19	48
	121	28	34	57	95	26	32	Φ70 × 76	12	815	19	48
HA80H	51	21	34	44	91	69	88	Φ80 × 84	16	1130	19	48
	81	29	35	56	113	43	56	Φ80 × 84	16	1130	19	48
	101	31	51	70	143	35	45	Φ80 × 84	16	1130	19	48
	121	31	51	70	112	29	37	Φ80 × 84	16	1130	19	48
HA90H	51	33	44	73	127	69	88	Φ90 × 96	18	1780	19	48
	81	44	61	96	165	43	56	Φ90 × 96	18	1780	19	48
	101	52	64	107	191	35	45	Φ90 × 96	18	1780	19	48
	121	52	64	113	191	29	37	Φ90 × 96	18	1780	19	48

Product Views

High Torque Density

All HA Series joint actuators are designed through multiple iterations using 3D modeling software, finite element analysis, and prototype testing. The electromagnetic design of the frameless motor is optimized, while the reducer and structural components are lightweighted. 

Modular and Highly Integrated Design

The frameless motor, drive, reducer, bearings, encoders, and other components of the joint actuator are arranged based on a modular design concept, facilitating product series development. The highly integrated design reduces the number of components, overall weight, and potential failure points.

Precise Thermal Management

All HA Series joint actuators are equipped with low-latency, high-accuracy temperature sensors. They can accurately monitor the temperature of the motor and drive system, enabling the motor and drive to operate at their maximum performance within the allowable operating temperature range. 

Dual-Encoder Feedback

HA Series joint actuators are equipped with high-precision encoders at both the high-speed motor side and the low-speed reducer output side, enabling precise control of motor speed and ensuring that each joint operates at the required speed and position.

Application Cases

Humanoid Robots

Powered Exoskeleton Robots

Dual-Arm Robots