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	HA55P		HA58P	HA60P		HA60P-Pro	HA88P		HA100P	HA125P	HA125P-Pro	HA150P
Reduction Ratio	7	35	16	36	57.6	57.6	14.3	22.5	24	20	25.12	16
Rated Torque / Nm	3.5	17.5	7.6	7.2	20	30	19	30	35	60	86	100
Peak Torque / Nm	10.5	55	25	25	50	90	90	140	150	235	400	330
Rated Speed / rpm	500	100	210	97	95	58	210	133	120	100	100	125
Maximum No-load Speed / rpm	685	135	245	116	109	68	315	200	132	160	106	150
Dimensions / mm	Φ56 × 55.9	Φ56 × 68	Φ56 × 60	Φ60 × 56	Φ60 × 70	Φ60 × 70	Φ88 × 64	Φ88 × 64	Φ100 × 66	Φ122 × 66.8	Φ122 × 77.2	Φ150 × 79.5
Hollow Bore Diameter / mm	No Hollow Bore	No Hollow Bore	3.5	4	5	5	4.6	4.6	8	10	8	12
Weight / g (Excluding Brake)	400	515	470	355	540	590	1050	1050	1200	1780	2350	3000
Encoder Resolution (Absolute)	19	19	16	16	16	16	16	16	19	19	19	19
Rated Voltage / V	48	48	48	48	48	48	48	48	48	48	48	48
Voltage Range / VDC	20~72	20~72	20~72	20~72	20~72	20~72	20~72	20~72	20~72	20~72	20~72	20~72
Rated Power / W	183	183	167	73	199	182	418	418	440	628	901	1309

Product Views

High Torque Density

Planetary joint actuators adopt a high-performance planetary transmission design, achieving high torque output within a compact structure. The peak torque can reach 600 Nm, and the torque density is up to 217 Nm/kg, delivering excellent performance.

Highly Integrated Design with Hollow Bore

Planetary joint actuators adopt a highly integrated design, integrating the motor, reduction mechanism, encoder, and drive components into a compact structure. This reduces the number of components, overall weight, and potential failure points. The large hollow bore design (hollow diameter ≥8 mm) helps optimize cable routing.

Stable Operation at High Temperature

Planetary joint actuators have passed high-temperature operation tests. The motor can operate continuously and reliably for more than 5000 hours at 100°C, enabling stable performance in long-term operation and extreme working conditions.

Excellent Impact Resistance

 

Planetary joint actuators feature excellent impact resistance. Through single-leg jumping tests exceeding 3 million cycles, they can withstand landing impacts above 50G, meeting the reliability requirements of dynamic motion scenarios such as humanoid robots and quadruped robots.

Application Cases

Quadruped Robot

Rehabilitation Training Equipment

SCARA Robot