HAG Robotic Harmonic Gear Motor is a robot joint actuator specifically designed for robotics applications. The built-in driver is integrated at the base of the gear motor, and it is equipped with high-precision encoders—20-bit resolution on the high-speed side and 19-bit on the output side—enabling full closed-loop control. Optional STO and brake functions are available to ensure safer operation of the equipment.

The TCHL Harmonic Joint Module is a harmonic joint module that integrates a torque sensor directly into the harmonic drive reducer. The torque sensor enables precise measurement of the drive system’s operating status and required torque values, allowing accurate load detection of the actuator. This helps prevent overload and enables safer human–robot interaction.
The module features fully integrated cables and connectors, allowing fast, precise component connections and enabling safe, responsive motion control through a highly integrated design.

The HAT Hollow and Standard Harmonic Servo Rotary Actuators support harmonic drives of models 11, 14, 17, 20, 25, 32, 40, 50, and 58, with rated torque from 4 N·m to 1200 N·m and outer diameters ranging from 62 mm to 220 mm.They feature multi-turn absolute encoders with Tamagawa protocol:Single-turn 17-bit, multi-turn 16-bit, or Single-turn 23-bit, multi-turn 16-bit.Custom dual-encoder configurations are also available. The harmonic actuators can be directly mounted via the end face, making them ideal for lightweight or space-constrained applications.

The T-type harmonic joint module is a highly integrated robotic joint unit that combines a harmonic reducer, torque motor, precision sensors, brake, and driver. It is called “T-type” because the output flange is perpendicular to the motor shaft, forming a T-shaped layout ideal for rotary robot joints.
Designed for collaborative robots, the module simplifies development by integrating key components into one compact, plug-and-play unit. This greatly shortens the development cycle, lowers costs, and makes building a robotic arm almost as easy as assembling LEGO blocks. Its high integration also improves maintenance efficiency and expands the applicability of robotic-arm technology.

The Flange-Integrated RV Reducer E Series represents a precision-engineered speed reduction solution designed for high-performance mechanical applications. This advanced transmission system features a two-stage enclosed differential gear mechanism combining cycloidal pin gear and planetary gear configurations, with a solid output shaft design. The unit comes factory-assembled with flange sealing and pre-lubricated with specialized RV grease, enabling immediate integration with servo motors upon installation.
Industrial Robotics Applications:
For robotic arms with end-effector payloads ≤20kg: Primarily deployed in base-to-high-load joints (typically J1-J4)
For robotic arms with end-effector payloads >20kg: All six joints utilize RV reducers
As the critical transmission component, RV reducers ensure exceptional positioning accuracy in robotic systems.

The Flange-Integrated RV Reducer C Series is a precision reduction device specifically designed for mechanical applications. It features a two-stage closed differential gear system consisting of cycloid pinwheels and planetary gears, with a hollow output shaft. The unit comes factory-sealed with flanges and pre-filled with specialized RV lubricating grease, allowing direct installation with servo motors upon unboxing.
In industrial robotics applications:
For robotic arms with end-effector loads ≤20kg, RV reducers are primarily used in base-to-high-load joints (typically Joints 1-4)
For robotic arms with end-effector loads >20kg, all six joints typically employ RV reducers
RV reducers serve as the core transmission component ensuring robotic arm positioning accuracy.

The joint module achieves highly optimized volume and weight through fully integrated components including harmonic reducer, frameless torque motor, brake, encoder and driver, enabling precise motion control with greater torque output, higher accuracy, more compact size and lighter weight. We also provide customized solutions to meet specific requirements for personalized applications and special operating environments, with the most common customizations being waterproof versions (resistant to water splashes, sprays or underwater operation up to 1 meter depth) and low-temperature adaptations. This waterproof joint module is specifically designed for special robots operating underwater, developed as an enhanced version of our standard joint module with dedicated improvements to address waterproofing challenges in robotic joints.

The backlash-free planetary rotary actuator typically integrates an internal rotor frameless torque motor with precision backlash-free planetary gearboxes, absolute encoders, and other components to form a complete rotary actuator unit. Its control system (drive unit) is usually externally mounted, enabling high-precision motion control for connected equipment. Compared to harmonic drive-based rotary actuators, this series employs high-rigidity backlash-free planetary gearboxes, offering superior stiffness, load capacity, and bending moment resistance. It is designed for applications demanding high rigidity, ultra-precision, and compact integration, such as machine tool rotary tables, precision medical devices, 5-axis laser cutting systems, and semiconductor equipment.

The large hollow bore rotary actuator typically integrates an internal rotor frameless torque motor with components such as a harmonic drive reducer, absolute encoder, and customized large hollow bore harmonic drive unit to form a complete rotary actuator assembly. Its control unit (drive system) is usually externally mounted, enabling high-precision motion control for connected equipment. Compared to standard rotary actuators, this series features a larger hollow bore diameter, allowing passage of lead screws, cables, and other components. It is designed for applications requiring large through-bore space, high precision, and compact integration, such as machine tool rotary tables, precision medical devices, 5-axis laser cutting systems, and semiconductor equipment.

The Robot Joint Motor achieves highly precise motion control through integrated components including harmonic drive, frameless torque motor, brake, encoder, and drive unit, with optimized size and weight. It delivers greater torque, higher precision, more compact size and lighter weight. We also provide customization services according to customers' specific requirements.
Robot Joint Motors typically support a wide voltage range of DC24V~DC48V. As a core component in robotics industry, the technological advancement of Robot Joint Motors will continue to promote the development of specialized robots and humanoid robots towards higher flexibility and broader application scenarios. Beyond robotics, Robot Joint Motors are also applied in semiconductor equipment, photovoltaic equipment, precision medical equipment, 3C equipment, optical equipment and other fields.

The SHD-mini series harmonic drive is designed for applications with small volume and weight requirements, featuring compact axial dimensions and a top-hat style flexspline. This series exclusively supplies pre-assembled modular products for immediate use. The main bearing employs compact four-point contact ball bearings to directly support external loads. The shaft bore dimensions in this series can be customized to match specific motor shaft sizes. Select the most suitable motor model based on your mechanical design requirements.

The CSF-mini series miniature harmonic drive is developed for applications with specialized volume and weight requirements, utilizing a cup-style flexspline. This series exclusively offers pre-assembled modular products for immediate use. The main bearing employs compact four-point contact ball bearings to directly support external loads. The CSF-mini series includes two types: the motor-mount type (2XH) and the shaft-input type (1U) that supports input forms such as belts, gears, and couplings. Select the most suitable model based on your mechanical design requirements.