Harmonic Joint Motor/Actuator/Module
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.
![Smart Factory AGV AMR Warehouse Robot Servo Drive Wheel Motor]( "Smart Factory AGV AMR Warehouse Robot Servo Drive Wheel Motor")
Smart Factory AGV AMR Warehouse Robot Servo Drive Wheel MotorThis series of drive wheels is an integrated drive solution combining a high-precision servo motor, planetary gearbox, and drive wheel. Designed for AGVs, AMRs, intelligent warehouse robots, automated material handling systems, and smart factory applications, the integrated structure simplifies mechanical installation while providing high driving force, stable operation, and precise motion control.
The series covers a wide range of load and operating requirements, making it suitable for both light-duty and heavy-duty mobile equipment. Different drive configurations can be selected according to vehicle weight, travel speed, load requirements, and available installation space. With high-resolution encoder feedback and a reliable braking system, these drive wheels support precise movement, stable operation, and secure stopping in demanding industrial applications.Details![TYCD Horizontal Differential Speed Drive Two Wheel Motor]( "TYCD Horizontal Differential Speed Drive Two Wheel Motor")
TYCD Horizontal Differential Speed Drive Two Wheel MotorThe HONPINE TYCD differential drive wheel motor uses two fixed-direction drive wheels that do not steer independently. Instead, the vehicle changes direction by controlling the speed difference between the left and right drive wheels.
With its horizontal layout, when the left wheel rotates faster than the right wheel, the vehicle turns to the right. When the two drive wheels rotate in opposite directions, the vehicle can rotate in place.
The TYCD differential drive wheel can be configured according to application requirements, including wheel diameter, maximum load capacity, motor power, and gearbox reduction ratio. Optional configurations include rubber tires and different suspension solutions such as pivoting, spring, and hydraulic suspension systems.Details![TYD Integrated Single Steering Driven Wheel Module for AGV & AMR]( "TYD Integrated Single Steering Driven Wheel Module for AGV & AMR")
TYD Integrated Single Steering Driven Wheel Module for AGV & AMRThe HONPINE TYD Driven Steering Wheel Module integrates the drive motor, gearbox, steering mechanism, and wheel into a single compact assembly. The wheel can both rotate for driving and move forward or backward, while the entire wheel module can rotate to control the vehicle's steering direction.
With a maximum load capacity of up to 15 tons per wheel, the TYD steering wheel module is designed for heavy-duty AGV and AMR applications. Various shock-absorption solutions are available to meet different vehicle requirements.
The module can be customized according to application requirements, including wheel diameter, gear ratio, motor power, and other specifications. It is particularly suitable for heavy-duty towing AGVs and forklift-type AGVs.Details![Omnidirectional Steering Wheel Motor for Intelligent Mobile Robots]( "Omnidirectional Steering Wheel Motor for Intelligent Mobile Robots")
Omnidirectional Steering Wheel Motor for Intelligent Mobile RobotsThis product is an advanced omnidirectional steering wheel motor designed for intelligent mobile robots. It breaks through the steering angle limitations of conventional steering wheels, enabling continuous 360° rotation and multi-directional movement. Featuring a fixed wiring harness design, it fundamentally eliminates cable wear and entanglement risks, extending the service life of critical components by more than 10 times. It is ideal for AGVs, AMRs, humanoid robot chassis, and other mobile robotic applications, and has been proven to operate reliably in demanding environments such as cold-chain logistics, factories, and warehouses.Details![Differential Steering Two Drive Wheel DC Motor Actuator]( "Differential Steering Two Drive Wheel DC Motor Actuator")
Differential Steering Two Drive Wheel DC Motor ActuatorA differential steering drive wheel is a two-wheel drive system in which each wheel is equipped with an independent actuator, such as a DC motor. The name originates from the fact that the vehicle's motion vector is the result of the combined movements of the two independently driven wheels. By controlling the two drive motors to rotate in opposite directions or at different speeds, the motor torque is transmitted through a gearbox and polyurethane-coated wheels, causing the two wheels within the differential drive unit to rotate oppositely or at different speeds. This generates the required steering angle and enables vehicle maneuvering.Details![Vertical Drive Wheel Motor for AGV AMR Forklifts]( "Vertical Drive Wheel Motor for AGV AMR Forklifts")
Vertical Drive Wheel Motor for AGV AMR ForkliftsThis vertical drive wheel Motor is designed for AGVs, AMRs, and forklifts with capacities up to 10 tons, covering virtually all forklift types. The most common applications are forklifts with load capacities ranging from 1.5 to 3 tons.
With the advancement of the Internet of Things (IoT), LiDAR navigation technologies, and the widespread adoption of 5G, forklifts are gradually evolving from manual operation to assisted operation and ultimately to fully autonomous control. As a result, the transformation of conventional forklifts into unmanned forklifts and AGVs (Automated Guided Vehicles) has become an inevitable industry trend. This vertical drive wheel is developed to accelerate the transition of AGV forklifts through lightweight design, compact structure, and intelligent integration.Details![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
Planetary Joint Motor/Actuator/Module
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.
![Heavy-Duty Explosion-Proof Robotic Dog Planetary Joint Actuator]( "Heavy-Duty Explosion-Proof Robotic Dog Planetary Joint Actuator")
Heavy-Duty Explosion-Proof Robotic Dog Planetary Joint ActuatorHONPINE’s heavy-duty explosion-proof planetary joint actuators have officially entered mass production. This series of joints has been successfully integrated into multiple quadruped robot (robotic dog) platforms and deployed in hazardous environments such as petrochemical plants, natural gas inspection sites, and emergency rescue operations—areas that previously relied heavily on manual labor or imported components.
Application-Specific Integration Support: Customized mechanical structures and control parameters tailored to different robot configurations and mission requirements.
Explosion-Proof Certification Assistance: Support throughout the certification process, helping customers avoid common design pitfalls and accelerate compliance.
Rapid Technical Support: Technical service centers located across major industrial regions nationwide, providing on-site response within 48 hours.Details![Highest Torque Output Light Weight Planetary Joint Modules]( "Highest Torque Output Light Weight Planetary Joint Modules")
Highest Torque Output Light Weight Planetary Joint ModulesHONPINE PA Series Planetary Joint Modules feature three exclusive invention patents and seven utility model patents. With an ingenious structural design, they deliver the highest torque output among products of the same class, offering powerful and stable performance.
HONPINE provides extensive product resources and technical support, enabling rapid deployment across various application scenarios while significantly reducing the time, effort, and cost required during the project pre-research stage.
The modules adopt a power-and-signal shared input/output design, greatly simplifying the connection between drive units. Combined with a hollow-through wiring structure, the application and integration of the drive units become more convenient and efficient.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 for Robot Joint Motor
HONPINE is committed to developing the core components of its robot joint modules in-house to improve production yield and supply capacity.
Shown below are HONPINE’s standard frameless torque motors, which we further refine and optimize for use in our fully integrated joint modules. These standard motors are also available for purchase as standalone products.
![FM2 Robotic High Torque Density Frameless Motors]( "FM2 Robotic High Torque Density Frameless Motors")
FM2 Robotic High Torque Density Frameless MotorsHONPINE FM2 Frameless Torque Motors for Robotics offer higher performance and more configuration options compared to the FM1 series, making them suitable for a wider range of applications. Motor losses are reduced by 20%, while torque output is increased by 10% compared to FM1 motors, resulting in extended operating endurance.
The FM2 series is available in six diameters ranging from φ50mm to φ127mm, with rated speeds from 1800 rpm to 5500 rpm, torque ranging from 0.36 Nm to 6.40 Nm, and power output from 207 W to 608 W. Rated voltages range from 24 V to 70 V. Optional configurations include Hall sensors, temperature sensors, and customizable lead wire options.These motors are widely used in collaborative robots, humanoid robots, quadruped robots, industrial robots, and medical rehabilitation robots.Details![FM1 Cost Effective Frameless Brushless DC (BLDC) Motors]( "FM1 Cost Effective Frameless Brushless DC (BLDC) Motors")
FM1 Cost Effective Frameless Brushless DC (BLDC) MotorsHONPINE FM1 Frameless Brushless DC (BLDC) Motors are compact, high-performance, and cost-effective products. Available in four sizes (φ50mm–φ115mm), with rated speeds ranging from 650 rpm to 5250 rpm, torque from 0.3 Nm to 9.32 Nm, and power from 165 W to 920 W. Rated voltages range from 24 V to 70 V, with optional Hall sensors, temperature sensors, and wiring configurations. They are widely used in collaborative robots, humanoid robots, quadruped robots, and medical rehabilitation robots.Details
What is a robot joint module?
The robot joint module achieves integrated components including harmonic drive/planetary reducer, frameless torque motor, brake, encoder, and drive unit, with optimized size and weight.The HONPINE harmonic joint motor offers flexible configuration options to meet diverse application needs, including dual encoders, STO (Safe Torque Off), holding brakes, and integrated torque sensors.
Harmonic Joint Actuator Model Selection
To meet diverse market demands, HONPINE harmonic drive robot joint modules are currently divided into three main series: HPJM, TCHL, HAU 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
In mass production since 2020, the HPJM series offers a mature, proven joint solution for humanoid robots. It integrates a harmonic reducer, servo drive, encoder, and frameless torque motor, with optional dual encoders and a holding brake. Supported communication protocols include CAN (proprietary protocol), CANopen, and EtherCAT.
Key Advantages
- Highly compact design leaves more space for system integration while meeting the same performance requirements.
- Larger hollow bore than other harmonic joint module series, with industry-leading torque density.
- Optional low-temperature grease enables operation in harsh environments down to −40°C.
- Widely used in specialized robots, with many HONPINE customers adding sealing to suit their application requirements.
Key Features
The HONPINE TCHL harmonic joint module uses an in-house-developed harmonic reducer for better cost control. It comes standard with dual single-turn absolute encoders featuring 23-bit resolution and supports CAN FD and EtherCAT communication protocols. A holding brake and torque sensor are available as options. The integrated wiring harness with terminal connectors supports cable routing through the hollow shaft and daisy-chain connections between modules.
Key Advantages
- Significant cost advantages.
- Flexible mounting options, including front, side, and rear mounting.
- Wiring harness design simplifies system integration.
- Lightweight construction and easy installation make it well suited to humanoid robots and other embodied AI applications.
Key Features
The HONPINE HAG harmonic joint module can incorporate a built-in torque sensor and offers optional STO (Safe Torque Off) functionality to meet specific safety requirements. It uses a higher-precision harmonic reducer to ensure a high level of reliability. Supported communication protocols include CANopen and EtherCAT, with an optional holding brake.
Key Advantages
- Supports more demanding safety requirements.
- High-performance, reliable core reducer components.
- Suitable for projects with specific safety requirements or where reducer reliability is a top priority.
- An ideal solution for robotic arms and medical equipment with stringent performance and reliability requirements.
Key Features
The HAU Series harmonic joint module is an improved version of the HAG Series harmonic joint module. It does not include a torque sensor, making it more cost-effective than the HAG Series.
Key Advantages
The HAU Series harmonic joint module features a large hollow bore, high positioning accuracy, and high overload capacity.
Applications
The HAU Series harmonic joint module is suitable for high-precision robotic arms, humanoid robots, and special-purpose robots.
Planetary Joint Actuator Model Selection
HONPINE planetary joint modules are widely used in quadruped robots, robotic dogs, AGV drive wheels, and other applications. Based on different customer requirements and performance specifications, HONPINE offers JRM, HPA, and explosion-proof planetary joint module series.
The HONPINE JRM planetary joint module has undergone engineering validation and extensive testing. Currently, approximately 80% of JRM shipments are used in quadruped robots, commonly known as robotic dogs.
In testing, a quadruped robot equipped with HONPINE JRM planetary joint modules was operated under a load equivalent to two cases of bottled water for two hours. The housing temperature remained at approximately 60°C. This test demonstrates the JRM joint module's ability to deliver high torque while maintaining relatively low heat generation under heavy-load operation, making it well suited for high-load quadruped robots.
The HONPINE HPA Series planetary servo joint achieves a peak torque density of up to 210 N·m/kg and features a lightweight design with a two-stage high-precision planetary reduction system. It supports multiple control modes, including position, velocity, torque, and force-position control.
HONPINE planetary joints offer advantages in cost efficiency, transmission efficiency, reliability, and impact resistance. A humanoid robot typically uses approximately 31 joint modules. Lower-torque models are mainly used in the upper body, while higher-torque models are used in the lower body, including the hip and knee joints. HONPINE planetary joint modules are also currently shipped in significant volumes for AGV drive wheels.
This production line incorporates manufacturing processes and equipment experience derived from automotive transmission production. These technologies are used to improve production efficiency and product durability while increasing production capacity to meet the growing demand driven by the development of embodied intelligence.
The explosion-proof joint motor series covers three major joint types: knee joints, pitch joints, and roll joints. It provides a peak torque of up to 450 N·m and a rated torque of 110 N·m, supporting continuous operation with robot payloads exceeding 20 kg.
The products are designed to meet multiple explosion-proof operating conditions, including Ex d IIB T4 and Ex d IIC T6, providing a high level of operational safety. They can be used in a wide range of hazardous environments, including petroleum and chemical industries, as well as complex outdoor and ground-based operating conditions.
The explosion-proof joint motors have been successfully adapted to multiple quadruped robot platforms and have entered high-risk restricted areas such as petrochemical facilities, natural gas inspection sites, and emergency rescue operations, where tasks have traditionally relied on human workers or imported components. These applications represent an important technological advancement for explosion-proof robotic dogs.
Robot Joint Motor Solutions and Application
For many years, HONPINE has applied harmonic robot joint motors and planetary joint motors to various fields, including humanoid robots, dual-arm robots, wheeled robots, drones, agricultural machinery, nuclear equipment, industrial robots, and industrial automation equipment, providing joint motor solutions and supporting customization for these industries. Its HPJM, TCHL, HAG, and other series of robot joint motors are developed based on experience gained from practical service.
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What are Advantages and Disadvantage of Harmonic Joint Motor
Advantages of Harmonic Joint Motors
With their highly integrated design, harmonic actuator modules are becoming the preferred alternative to traditional harmonic reducer and servo motor combinations, offering a more compact structure, easier installation, and improved system integration.
Ultra-High Precision
Minimal transmission backlash with repeat positioning accuracy up to ±0.01 mm, making it essential for precise robotic operations.
High Reduction Ratio
A large single-stage reduction ratio enables high torque output from a compact size, achieving effective “low-speed, high-load” performance.
Extremely Compact Design
Simple structure, small size, and lightweight construction, making it highly suitable for space-constrained robotic parts such as wrists and hands.
High Integration Capability
Often sold as integrated modules combining motors, encoders, and other components, allowing convenient installation and maintenance while supporting modular design.
Disadvantages of Harmonic Joint Motors
The harmonic reducer and torque sensor of the harmonic joint motor are custom-developed, making it difficult to reduce the price. However, in the near future, when demand and production capacity reach a certain level, the price may be reduced.
Harmonic Drive Robot Joint Module - FAQ
HONPINE harmonic DC joint motors are harmonic actuators specifically designed for embodied intelligence. hpjm was the first harmonic actuator to be released, and currently boasts the most stable performance and fastest delivery time. To meet customer needs, we have recently released two new harmonic DC joint motors: TCHL and HAG. Contact us for the latest product brochures.
Planetary Joint Motor - FAQ
The JRM planetary joint motor is a military-grade product from HONPINE, commonly used in high-performance robotic dogs. Currently, for humanoid robot bionics, the HPJM harmonic joint motor is about to be launched, featuring a more compact design and a larger hollow cavity.
Harmonic Drive Actuators for Humanoid Robots- FAQ
These are some of the most common technical and purchasing questions customers ask when evaluating humanoid robot joint modules and actuator systems. Topics include torque selection, reducer ratios, motion control, communication protocols, thermal management, dynamic walking performance, and integration with humanoid robot platforms.
This guide is intended to help engineers, robotics developers, and procurement teams better understand how to select suitable joint solutions for different humanoid robot sizes, payload requirements, and application scenarios.
More humanoid robot solutions please contact honpine
Precautions for using robot joint modules
For more information about pre-sales and after-sales matters regarding joint modules, please contact us. HONPINE will provide one-on-one technical support.
● Safe Operation: Do not plug or unplug cables while powered on. Before disconnecting capacitors, ensure they are fully discharged.
● Equipment Installation: Confirm that the installation structure has sufficient mechanical strength to support the weight of the integrated joint and ensure secure mounting.
● Screw Fastening: When fastening screws between the motor and structural components, thread-locking adhesive and a torque wrench must be used. Strictly follow the torque specifications provided in the motor manual.
● Wiring Standards: Perform wiring strictly according to the pin definition. Do not rely on cable colors for identification, and ensure proper resistance matching.
● Power Supply Usage: Verify that the power supply voltage matches the rated voltage of the integrated joint. When users connect external lithium batteries, if the rated voltage is 48V, the fully charged battery voltage may exceed 60V during startup, which could affect motor operation or even damage the motor. Preventive measures include installing electrolytic capacitors for voltage smoothing or connecting a voltage regulation module in series with the motor power input to stabilize the supply voltage.
● Battery Power Supply Systems: In battery-powered systems, the battery itself can absorb reverse current and help prevent the voltage from exceeding the rated limit.
● Switching Power Supply Systems: In switching power supply systems, the integrated motor may generate regenerative energy during rapid deceleration or when driven by gravity loads, causing the DC bus voltage to rise and potentially trigger overvoltage alarms. To prevent this, it is recommended to install large-capacity electrolytic capacitors in parallel or add braking resistors to reduce voltage spikes.
● Avoid Electric Shock and Crushing Injuries: When the motor is powered on, running, or connected to structural components, never touch the motor directly by hand to avoid electric shock or crushing injuries caused by moving structures.
● Motor Disassembly: Unauthorized disassembly of the motor is prohibited. Disassembly is only permitted under special circumstances after consultation and under professional guidance. Unauthorized disassembly will void the warranty.
● Transportation After Disassembly: If the motor is disassembled under guidance and needs to be returned, ensure all original screws are properly reinstalled and secured before shipping to prevent transportation damage caused by vibration or impact, including reducer screws, rear cover screws, and other fastening components.
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