Harmonic Planetary Frameless Robot Joint Motor
Harmonic Joint Motor
HONPINE harmonic drive joint motors are characterized by high precision, high torque, and large hollow core diameter, often providing solutions for applications in confined spaces. Customization is supported, and these motors are frequently used in the field of specialized robotics.
![360° rotation Outdoor Vertical Steering Wheel]( "360° rotation Outdoor Vertical Steering Wheel")
360° rotation Outdoor Vertical Steering WheelThe vertical steering wheel is designed for outdoor applications, offering excellent water-crossing capability as well as strong climbing and obstacle-overcoming performance.The term vertical steering wheel refers to a structure in which the motor is mounted vertically above the drive wheel.When integrated with a drive controller, a mobile platform equipped with a single steering wheel can perform start/stop, forward and backward movement, and steering functions.When two or more steering wheels are configured, the system enables zero-radius rotation, lateral movement, omnidirectional 360° rotation, straight travel, sideways motion, diagonal motion, and curved trajectories—allowing free movement in any direction on a two-dimensional plane.Details![Horizontal Drive Mechatronic Wheel Motor]( "Horizontal Drive Mechatronic Wheel Motor")
Horizontal Drive Mechatronic Wheel MotorA horizontal drive wheel is a mechatronic integrated product in which the traction drive motor is horizontally mounted on the drive wheel. It integrates the traction motor with a speed feedback unit, reduction transmission mechanism, braking system, mounting and support structure, and rubber-coated wheel.It features low installation height, high precision, lightweight design, high load capacity, high torque, high speed, reliable performance, long service life, easy installation, and convenient maintenance.Details![360° Rotating AGV Horizontal Drive Steering Wheel]( "360° Rotating AGV Horizontal Drive Steering Wheel")
360° Rotating AGV Horizontal Drive Steering WheelThe AGV horizontal drive steering wheel features an integrated design that combines a steering motor, reduction transmission mechanism, position feedback unit, limit device, and rotary mechanism into a single compact module.
When equipped with a drive controller, a mobile platform configured with a single steering wheel can perform start/stop, forward and backward movement, and steering functions.
When two or more steering wheels are used, the system enables zero-radius rotation, lateral movement, omnidirectional 360° rotation, straight-line travel, sideways motion, diagonal movement, and curved trajectories—allowing free movement in any direction on a two-dimensional plane.Details![Integrated AGV Robot Servo Wheel Hub Motor]( "Integrated AGV Robot Servo Wheel Hub Motor")
Integrated AGV Robot Servo Wheel Hub MotorThe Integrated Servo Wheel Hub Motor is designed for service robots, warehouse logistics AGVs, and compact medical systems. Featuring a fully integrated drive and hub architecture, it significantly simplifies installation and system design. With an IP67 protection rating, the motor delivers reliable performance even in harsh or demanding environments. It provides high torque output and excellent overload capability, ensuring strong and consistent power for heavy-duty tasks, slopes, and continuous operation. Its smooth low-speed performance and precise control make it an ideal propulsion solution for robots performing cleaning, disinfection, inspection, delivery, and guiding applications.Details![High Efficiency Humanoid Robots Steering Four Wheel Drive Module]( "High Efficiency Humanoid Robots Steering Four Wheel Drive Module")
High Efficiency Humanoid Robots Steering Four Wheel Drive ModuleAs application scenarios for general-purpose humanoid robots (including wheeled humanoid robots) continue to expand, higher demands are being placed on the flexibility of robot mobility. Traditional differential-drive robot chassis cannot achieve lateral movement in place, suffer from limitations in turning radius, and operate with lower efficiency due to the lack of omnidirectional motion capabilities.
To address these challenges, HONPINE has launched the iGMH and iGML series steering-wheel drive and steering modules. These modules highly integrate core components—including the servo driver, servo motor, encoder, and wheel—greatly improving space utilization within the robot chassis.Details![AGV AMR Hub Servo Wheel Motor]( "AGV AMR Hub Servo Wheel Motor")
AGV AMR Hub Servo Wheel MotorThe AGV wheel motor (also known as Hub Servo Motor) is a highly integrated electromechanical drive system that combines core components, including planetary gear mechanism, servo motor, brake, encoder, drive controller, and wheel assembly into a compact unit. This module adopts a frameless torque motor design to directly drive the wheel motion, replacing the traditional "motor + reducer + wheel" separated solution, and possesses high-precision motion control capabilities.It is primarily applied in AGVs (Automated Guided Vehicles), AMRs (Autonomous Mobile Robots), and industrial automation equipment, meeting the efficient material handling demands in fields such as warehousing logistics and smart manufacturing. Hub motors demonstrate significant advantages in improving equipment efficiency, reducing comprehensive costs, and adapting to complex scenarios.Details
Planetary Joint Motor
The planetary joint motor is also a core component of robotic power systems. Compared to harmonic joint modules, it features a smaller reduction ratio, higher output speed, and greater rigidity, though with slightly lower overall output accuracy. Through highly integrated components including planetary reducers, frameless torque motors, brakes, encoders, and drivers, its size and weight are significantly optimized, enabling precise joint motion control. This results in higher torque, more compact dimensions, and lighter weight. Planetary joint motors typically support a wide voltage range, adapting to low-voltage DC 24V~48V. We also offer customized solutions based on individual customer requirements.
![High-Precision EtherCAT CAN Large Hollow Dual-Encoder Planetary Robot Joint Actuator]( "High-Precision EtherCAT CAN Large Hollow Dual-Encoder Planetary Robot Joint Actuator")
High-Precision EtherCAT CAN Large Hollow Dual-Encoder Planetary Robot Joint ActuatorTo meet different market demands for harmonic joint actuator and planetary joint actuator, HONPINE introduces its 2026 new product — the Large hollow planetary robot joint actuator.
The planetary joint module integrates a high-efficiency planetary reducer, precision driver, and 24-bit high-precision dual encoders, while adopting an extra-large hollow shaft design and supporting CAN and EtherCAT communication protocols.
It provides an ideal drive solution for humanoid robots, industrial robots, collaborative robots, and industrial automation equipment.Details![High Speed Impact Resistance Compact Lightweight Planetary Joint Module]( "High Speed Impact Resistance Compact Lightweight Planetary Joint Module")
High Speed Impact Resistance Compact Lightweight Planetary Joint ModuleThe Standard Planetary Joint Module is a core component of robotic power systems. Through highly integrated design combining a planetary reducer, frameless torque motor, brake, encoder, and driver, it achieves significant optimization in volume and weight, enabling precise motion control of the joint. This results in greater torque, smaller size, and lighter weight. Compared to harmonic joint modules, the planetary joint module features a smaller reduction ratio, higher output speed, and greater torque density, making it more suitable for medium-to-low load applications. We also provide customization services tailored to clients’ specific requirements.
With core advantages such as high-speed performance, impact resistance, and compact lightweight design, the Standard Planetary Joint Module has become the preferred solution for high-load drives in humanoid robots, specialized robots, logistics AGVs, and industrial automation, driving advancements in robotic performance and broader application scenarios.Details
Frameless Torque Motor
The frameless torque motor, a specialized type of permanent magnet synchronous motor (PMSM), consists of two core components: the rotor and stator, while eliminating traditional motor structures such as housings, bearings, and shafts. Designed for direct integration into a customer’s mechanical system, it requires the end-user to supply supporting bearings and enclosures. This design philosophy delivers higher flexibility, more compact dimensions, and superior performance, making it ideal for applications with stringent demands on space, weight, and dynamic capabilities. It excels in high-precision, high-dynamic-response scenarios, including humanoid robot joint actuation, precision rotary stages, medical equipment, and industrial automation systems.Frameless torque motors are further subcategorized into internal rotor frameless motors and external rotor frameless motors, depending on their structural configuration.
![FMK Highly Integrated Robot Joint Frameless Torque Motors]( "FMK Highly Integrated Robot Joint Frameless Torque Motors")
FMK Highly Integrated Robot Joint Frameless Torque MotorsFrameless torque motors, unlike traditional servo motors, consist only of stator and rotor components. Compared to framed motors, frameless motors offer flexible configuration and easy installation. Considering the increasing trend of highly integrated drive systems, frameless motors better meet the expectations of engineers. Engineers no longer need to consider motor interfaces in system design, allowing for maximum reduction of space occupied by the power output unit in the drive system, leading to higher system integration.The HONPINE FMK frameless torque motors are now widely used in the J1–J6 joints of collaborative and dual-arm robots, the walking joints of quadruped robots, and the flexible joints of humanoid robots.Details![Dynamic Response High Torque Density External Rotor Frameless Torque Motor]( "Dynamic Response High Torque Density External Rotor Frameless Torque Motor")
Dynamic Response High Torque Density External Rotor Frameless Torque MotorThe external rotor frameless torque motor is a specialized type of permanent magnet synchronous motor (PMSM) composed of two core components: the rotor and stator. Unlike traditional internal rotor designs, this motor features an externally mounted rotor and an internally positioned stator. The innovative design eliminates traditional motor housings, bearings, and shafts, retaining only the rotor and stator assemblies. The rotor, located outside the stator, integrates permanent magnets with the outer shell and is directly embedded into the load structure. The stator, positioned internally, contains copper windings and laminations, driving the external rotor’s rotation via electromagnetic forces. This design combines the high moment of inertia of the external rotor configuration with the compactness of the frameless structure, making it ideal for applications requiring low-speed high-torque output and efficient heat dissipation, such as medical equipment, industrial fans, and automated industrial systems.Details![Compact Lightweight High Power Density Internal Rotor Frameless Torque Motor]( "Compact Lightweight High Power Density Internal Rotor Frameless Torque Motor")
Compact Lightweight High Power Density Internal Rotor Frameless Torque MotorThe internal rotor frameless torque motor is a specialized type of permanent magnet synchronous motor (PMSM) composed of two core components: the rotor and stator. The rotor is internally positioned, while the stator is externally mounted. Its innovative design eliminates traditional motor housings, bearings, and shafts, retaining only the rotor and stator assemblies. The rotor typically adopts a ring-shaped structure integrated with permanent magnets, directly mounted on the load shaft. The stator consists of copper windings and laminations, generating electromagnetic forces to drive rotor rotation. This configuration achieves torque output through efficient magnetic field interaction, making it ideal for high-precision applications such as robotic joints and industrial automation. It enables direct load driving, minimizing mechanical transmission losses.Details
Harmonic Drive Robot Joint Actuator Selection
To meet diverse market demands, HONPINE harmonic drive robot joint motors are currently divided into three main series: HPJM, TCHL, and HAG.
This guide provides an initial overview to help you select the most suitable actuator for your application based on factors such as cost control, lead time, and baseline performance requirements.
For detailed selection and technical support, please feel free to contact us for further discussion.
Key Features
This series has been on the market for over 5 years, offering a fully developed and mature humanoid robot joint solution. It integrates a harmonic reducer, driver, encoder, and frameless torque motor. Dual encoders and brake options are available. Supports CAN (proprietary), CANopen, and EtherCAT communication protocols.
Key Advantages
Highly compact design, allowing more space for system integration under equivalent performance requirements
Optional low-temperature grease, suitable for harsh environments down to -40°C
Average lead time ≤ 4 weeks, ensuring strong production capacity
Applications
Ideal for projects requiring stable and reliable performance, fast batch delivery, or operation in low-temperature environments.
Notes
This series was not originally designed with torque sensors or waterproofing. Customization is available if such features are required, but additional cost and longer lead time should be expected.
Key Features
This new series, to be launched at the end of 2025, adopts a self-developed harmonic reducer, enabling better cost control. It comes standard with dual encoders (single-turn absolute, 23-bit resolution) and supports CAN FD and EtherCAT communication protocols. Optional features include a brake and torque sensor. The integrated terminal harness supports hollow shaft cable routing and module cascading.
Key Advantages
Significant cost advantage
Supports front, side, and rear mounting configurations, offering high structural flexibility
Harness design facilitates easy system integration
Applications
Ideal for cost-sensitive projects with high requirements for installation flexibility.
Notes
Currently, only a 101 gear ratio is available. The full range of gear ratios is expected to be launched in June 2026. The current lead time is approximately 6 weeks.
Key Features
Launched in 2026, this new series is equipped with STO (Safe Torque Off) functionality to meet specific safety requirements. It adopts harmonic reducers from leading domestic brands, ensuring high product reliability. Supports CANopen and EtherCAT communication protocols, with optional brake and torque sensor.
Key Advantages
Meets higher safety standards
Excellent performance and reliable quality of core reducer components
Applications
Ideal for projects with clear safety requirements or where reducer reliability is a top priority.
Notes
As a newly launched series, production capacity is still ramping up. The current lead time is approximately 8–10 weeks.
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Planetary Joint Motor - FAQ
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