Integrated Harmonic /Planetary Robot Joint Motor

The internal gears of the HONPINE planetary gear motor are made from high-strength alloy steel, treated with carburizing and quenching, achieving a surface hardness of HRC 58–62. Combined with food-grade lubricating grease, the service life exceeds 10,000 hours under rated operating conditions, equivalent to approximately 14 months of continuous industrial operation without replacing core components.
In addition, the motor features a modular sealing design with a protection rating of IP65, effectively resisting dust and liquid splashes, making it suitable for special environments such as food processing and automotive painting.
The standardized interfaces and detachable end-cap design allow maintenance without disassembling the entire robot—modules can be replaced directly, significantly reducing downtime and maintenance costs.

From industrial applications such as SCARA robot sorting and six-axis robotic arm loading and unloading, to medical applications including rehabilitation training equipment and surgical robot precision control, and further to consumer-level markets such as bionic robot gait simulation and UAV gimbal stabilization, the module supports multiple communication protocols, including CAN and RS485, enabling rapid compatibility with control systems from different brands.
More importantly, the combination of lightweight design and high torque density creates strong application versatility:
Small-size models can be embedded in UAV gimbals, ensuring smooth 360° rotation without increasing payload.
Larger models can be integrated into AGV drive wheels, supporting 24-hour continuous operation to meet the demands of uninterrupted warehouse and logistics operations.

To meet the stringent precision requirements of industrial manufacturing, the module adopts a helical planetary gear reduction structure. Through optimized tooth surface design, the gear backlash is controlled within 10 arcminutes (approximately 0.167°), achieving a repeat positioning accuracy of ±12 arcminutes.
Combined with a 3 kHz high-frequency control signal and a response time of ≤200 μs, the system avoids product loss caused by delay or positioning errors, even in micron-level operations such as precision electronic component assembly and lithium battery tab welding.
For heavy-load applications, the module uses military-grade reinforced gear materials and bearing structures. The peak torque reaches up to 36 Nm, while the stall torque exceeds 24 Nm, equivalent to stably lifting a 3.6 kg load. This provides strong and reliable power for load-bearing locomotion in quadruped robots and assisted rehabilitation in exoskeleton robots.

From industrial applications such as SCARA robot sorting and six-axis robotic arm loading and unloading, to medical applications including rehabilitation training equipment and surgical robot precision control, and further to consumer-level markets such as bionic robot gait simulation and UAV gimbal stabilization, the module supports multiple communication protocols, including CAN and RS485, enabling rapid compatibility with control systems from different brands.
More importantly, the combination of lightweight design and high torque density creates strong application versatility:
Small-size models can be embedded in UAV gimbals, ensuring smooth 360° rotation without increasing payload.
Larger models can be integrated into AGV drive wheels, supporting 24-hour continuous operation to meet the demands of uninterrupted warehouse and logistics operations.

The internal gears of the HONPINE planetary gear motor are made from high-strength alloy steel, treated with carburizing and quenching, achieving a surface hardness of HRC 58–62. Combined with food-grade lubricating grease, the service life exceeds 10,000 hours under rated operating conditions, equivalent to approximately 14 months of continuous industrial operation without replacing core components.
In addition, the motor features a modular sealing design with a protection rating of IP65, effectively resisting dust and liquid splashes, making it suitable for special environments such as food processing and automotive painting.
The standardized interfaces and detachable end-cap design allow maintenance without disassembling the entire robot—modules can be replaced directly, significantly reducing downtime and maintenance costs.

With the inherent advantages of planetary gear reducers, HONPINE planetary reducer motors are widely used across various robotic fields.
In quadruped robots, they meet the requirements of 12 degrees of freedom, providing stable and powerful drive for movement across complex terrain.
In robotic arms, the high-precision planetary reducer ensures accurate positioning, enabling complex tasks such as welding and cutting.
In humanoid robots, planetary reducers help achieve more natural and fluid movements, significantly improving coordination and stability in actions such as walking, arm lifting, and posture transitions.

To meet the stringent precision requirements of industrial manufacturing, the module adopts a helical planetary gear reduction structure. Through optimized tooth surface design, the gear backlash is controlled within 10 arcminutes (approximately 0.167°), achieving a repeat positioning accuracy of ±12 arcminutes.
Combined with a 3 kHz high-frequency control signal and a response time of ≤200 μs, the system avoids product loss caused by delay or positioning errors, even in micron-level operations such as precision electronic component assembly and lithium battery tab welding.
For heavy-load applications, the module uses military-grade reinforced gear materials and bearing structures. The peak torque reaches up to 36 Nm, while the stall torque exceeds 24 Nm, equivalent to stably lifting a 3.6 kg load. This provides strong and reliable power for load-bearing locomotion in quadruped robots and assisted rehabilitation in exoskeleton robots.

To address common industry challenges, HONPINE has introduced the upgraded HAT-G series rotary actuator.
While conventional models may deform and rebound under load, the HAT-G series uses advanced proprietary control algorithms to achieve over three times higher rigidity. Under identical loading conditions, dial indicator deflection is almost negligible.
An optional high-precision encoder is available, enabling positioning accuracy of ≤5 arc-seconds.

The robot may enter a single-leg support state, so sufficient safety margin must be reserved for the furthest upper-body payload.
Dynamic simulation is typically performed based on center of mass and lever arm calculations.

Yes.
Parameters such as height, weight, arm span, arm payload, and maximum extended-load conditions are all required.

It cannot be calculated accurately without a clearly defined payload.
You may refer to our existing 170A model as a reference.
The upper-body working payload must also be considered.

HONPINE has strong system-level engineering capabilities across multiple domains, including:
Sensing technologies
Energy systems
Motion and actuation
Industrial design
This multi-disciplinary integration significantly shortens the development cycle for humanoid robot customers, especially from concept (0) to initial deployment (1).

It depends on the communication protocol.
If the protocol follows the standard DS402 specification, then ROS2 is supported.
Private protocols are generally not supported.

Latency is generally at the microsecond (µs) level.
Typical motor control cycles operate at around 1 ms.

HONPINE integrated joint modules combine multiple core technologies into a single compact unit, including:
Servo control
Motor drive
Torque sensing
Transmission system
Thermal management
Compared with traditional servo motor systems, HONPINE solutions offer:
Higher integration and lighter weight
Higher peak torque output
Higher precision and control performance
HONPINE aims to reduce the technical barriers for customers developing robots and automation systems, enabling faster development and deployment.

Not necessarily.
Versions with integrated drivers already include FOC control internally.

16 kHz is the standard frequency commonly used for DC motor control.

Position control is generally more suitable.
Because elastic deformation exists, PT mode (position + torque synchronous control) can also be used.

HONPINE’s factory and technical teams can jointly provide support for integration.

It depends on whether harmonic drives or planetary reducers are used.
Planetary reducers tend to lose precision more quickly.
Harmonic reducers also wear over time, but even after precision degradation, they can still maintain arc-second-level accuracy.

Through active cooling and liquid cooling systems.

They are different parameters.
Continuous torque refers to sustained operating torque.
Peak torque refers to instantaneous impact torque before damage may occur.

It depends on the size of the humanoid robot, such as 1.2 m, 1.4 m, 1.7 m, or 2.4 m.
The upper-body payload also matters. Torque requirements should be calculated based on the payload capacity.

Not necessarily.
It depends on the humanoid robot size (1.2 m, 1.4 m, 1.7 m, 2.4 m, etc.) and the upper-body payload.Different torque levels should be selected according to the load requirements.

Coreless motors usually have a longer axial length and larger overall volume, while frameless torque motors are more compact in thickness.
The choice depends on the application position.
For example:
Dexterous hands can use coreless motors.
Frameless torque motors, with shorter axial dimensions, are more suitable for arms and similar structures.

It depends on the required control precision and application environment.
For example, industrial handling and industrial assembly require different precision levels.
The suitable backlash should be selected based on the actual application scenario.

It depends on whether a harmonic reducer or a planetary reducer is used.
Harmonic drive reduction ratios are commonly: 30, 50, 80, 100, 121, 161.
Planetary gear reduction ratios are generally below 50.
The ratio should be selected together with the overall size and structural design.