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Harmonic Joint Modules

Size by rated torque at the gear ratio you will run, check the start/stop and average-load limits against your duty cycle, then the hollow shaft for your cabling.

How to compare harmonic joint modules
Rated torque
What the module delivers continuously at its rated speed. It depends on the gear ratio, so read it for the ratio you will order (see each product's ratio table).
Average-load and start/stop torque
Limits for the average torque over a motion cycle and for the repeated peaks when starting and stopping. Size a cycle against these, not the momentary peak.
Peak torque
The momentary limit for impacts and emergency stops. Exceeding it can damage the strain-wave gear.
Gear ratio
Harmonic reducers run at about 50:1 to 160:1. A higher ratio gives more torque and finer resolution at lower speed, and is less backdrivable.
Backlash
Lost motion at the output, in arcseconds (60 arcsec is 1/60 of a degree). Harmonic drives are near zero-backlash, which suits precise arm joints.
Hollow shaft
A bore through the module for cables and air lines, so they do not wrap around the joint.
Dual encoder
A second absolute encoder on the output reads the joint angle directly, so the joint knows where it is at power-on without homing and gear wind-up does not affect position.
Brake
Holds the joint when power is off. Needed on any axis that carries load against gravity.
Torque sensor
A sensor in the reducer measures output torque directly, for force control and safer contact with people.
Price $
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Control & comms
What's included
Torque sensor
Rated torque N·m
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Peak torque N·m
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Hollow shaft mm
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Output speed rpm
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Gear ratio :1
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Weight kg
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Voltage V
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Rated current A
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Power W
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