Harmonic & planetary joints
Harmonic integrated joints (PHA, PHU, RHU) covering common humanoid torque classes with fast lead times on standard versions, plus the RP and PP planetary lines for shock-loaded and cost-sensitive axes.
At a glance
Specs quoted from manufacturer datasheets; final figures confirmed at quotation.
Single 101:1 ratio, 207–900 g, the smallest frames we carry. Lightest harmonic line in the catalogue. Rated torque at 2000 rpm input. Source: 意优科技选型手册 2026.08, p. 9.
| Model | Size (OD × L) | Ratio | Rated @2000 (N·m) | Avg output (N·m) | Peak start/stop (N·m) | Instant. max (N·m) | Weight | Voltage |
|---|---|---|---|---|---|---|---|---|
| PHA08L-101-C | Φ43 × 48.3 | 101:1 | 1.65 | 2.3 | 3.3 | 6.3 | 207 g | 24–36 V |
| PHA11H-101-C | Φ52 × 55.5 | 101:1 | 5 | 8.9 | 11 | 25 | 375 g | 24–48 V |
| PHA14H-101-C | Φ70 × 61.5 | 101:1 | 9.6 | 13.5 | 34 | 66 | 645 g | — |
| PHA17H-101-C | Φ80 × 68 | 101:1 | 30 | 49 | 66 | 134 | 900 g | — |
Dual absolute encoder, ±0.5% FS force control at 8 kHz, Φ40–Φ170. Rated torque at 2000 rpm input. -F variants add an output flange. PHU25H-110 is held ex-stock. Source: 意优科技选型手册 2026.08, pp. 3–5.
| Model | Size (OD × L) | Ratio | Rated @2000 (N·m) | Avg output (N·m) | Peak start/stop (N·m) | Instant. max (N·m) | Weight |
|---|---|---|---|---|---|---|---|
| PHU08L-40 | Φ40 × 56 | 51:1 | 1.25 | 1.6 | 2.3 | 4.6 | 196 g |
| PHU08L-40 | Φ40 × 56 | 101:1 | 1.65 | 2.3 | 3.3 | 6.3 | 196 g |
| PHU11H-52 | Φ52 × 70 | 51:1 | 3.5 | 5.5 | 8.3 | 17 | 403 g |
| PHU11H-52 | Φ52 × 70 | 101:1 | 5 | 8.9 | 11 | 25 | 403 g |
| PHU11H-60 | Φ60 × 68.5 | 51:1 | 3.5 | 5.5 | 8.3 | 17 | 543 g |
| PHU11H-60 | Φ60 × 68.5 | 101:1 | 5 | 8.9 | 11 | 25 | 543 g |
| PHU14H-70 | Φ70 × 75.4 | 51:1 | 6.6 | 8.6 | 23 | 43 | 812 g |
| PHU14H-70 | Φ70 × 75.4 | 101:1 | 9.6 | 13.5 | 34 | 66 | 812 g |
| PHU17H-80 | Φ80 × 78 | 51:1 | 19.8 | 32 | 42 | 86 | 1143 g |
| PHU17H-80 | Φ80 × 78 | 101:1 | 30 | 49 | 66 | 134 | 1143 g |
| PHU20H-90 | Φ90 × 85.8 | 81:1 | 42 | 58 | 91 | 158 | 1582 g |
| PHU20H-90 | Φ90 × 85.8 | 101:1 | 50 | 61 | 102 | 182 | 1582 g |
| PHU20H-90 | Φ90 × 85.8 | 121:1 | 50 | 61 | 108 | 182 | 1582 g |
| PHU25H-110 | Φ110 × 94 | 81:1 | 78 | 107 | 169 | 315 | 2354 g |
| PHU25H-110 | Φ110 × 94 | 101:1 | 84 | 133 | 194 | 351 | 2354 g |
| PHU25H-110 | Φ110 × 94 | 121:1 | 84 | 133 | 207 | 376 | 2354 g |
| PHU32H-142 | Φ142 × 144 | 101:1 | 169 | 267 | 411 | 800 | 5650 g |
| PHU32H-142 | Φ142 × 144 | 121:1 | 169 | 267 | 436 | 848 | 5650 g |
| PHU40H-170 | Φ170 × 149 | 101:1 | 320 | 460 | 702 | 1334 | 8520 g |
| PHU40H-170 | Φ170 × 149 | 121:1 | 320 | 557 | 762 | 1458 | 8520 g |
Large through-bore, humanoid leg and waist axes, Φ52–Φ130. Rated torque at 2000 rpm input; 120:1 and 160:1 on the two largest frames. Source: 意优科技选型手册 2026.08, pp. 6–7.
| Model | Size (OD × L) | Ratio | Rated @2000 (N·m) | Avg output (N·m) | Peak start/stop (N·m) | Instant. max (N·m) | Weight |
|---|---|---|---|---|---|---|---|
| RHU14L-52 | Φ52 × 61.1 | 50:1 | 3.7 | 4.8 | 12 | 24 | 382 g |
| RHU14L-52 | Φ52 × 61.1 | 100:1 | 5.4 | 7.7 | 19 | 35 | 382 g |
| RHU17L-60 | Φ60 × 66 | 50:1 | 11 | 18 | 23 | 48 | 521 g |
| RHU17L-60 | Φ60 × 66 | 100:1 | 16 | 27 | 37 | 71 | 521 g |
| RHU20L-70 | Φ70 × 68 | 50:1 | 17 | 24 | 39 | 69 | 811 g |
| RHU20L-70 | Φ70 × 68 | 100:1 | 28 | 34 | 57 | 95 | 811 g |
| RHU25L-80 | Φ80 × 80.5 | 50:1 | 27 | 38 | 69 | 127 | 1266 g |
| RHU25L-80 | Φ80 × 80.5 | 100:1 | 47 | 75 | 110 | 184 | 1266 g |
| RHU32H-120 | Φ120 × 126 | 120:1 | 124 | 197 | 270 | 848 | 4080 g |
| RHU32H-120 | Φ120 × 126 | 160:1 | 169 | 267 | 459 | 848 | 4080 g |
| RHU40H-130 | Φ130 × 136 | 120:1 | 248 | 448 | 648 | 1458 | 5820 g |
| RHU40H-130 | Φ130 × 136 | 160:1 | 363 | 557 | 800 | 1458 | 5820 g |
Planetary reduction for leg and mobile-platform axes, 215–1075 g. 48 V · reverse backlash ≤12 arcmin · dual absolute encoder · CANopen · IP54 · rated speed 115–150 rpm. Torque figures are the rated and peak output columns of the catalogue; a few cells were reconstructed from the PDF table, so we confirm them with the factory at quotation. Source: 意优科技选型手册 2026.08, p. 11.
| Model | Size (OD × L) | Through-bore | Weight | Ratio | Rated power (W) | Rated speed (rpm) | Rated torque (N·m) | Peak torque (N·m) |
|---|---|---|---|---|---|---|---|---|
| RP40C | Φ45 × 52 | Φ4 | 215 g | 25:1 | 25 | 120 | 2 | 6 |
| RP50L | Φ59 × 53.5 | Φ5 | 410 g | 19.53:1 | 79 | 150 | 5 | 15 |
| RP50H | Φ59 × 59.5 | Φ5 | 465 g | 19.53:1 | 157 | 150 | 10 | 30 |
| RP70L | Φ77 × 52.5 | Φ6 | 670 g | 20:1 | 163 | 130 | 12 | 36 |
| RP70H | Φ77 × 58.3 | Φ6 | 760 g | 20:1 | 223 | 125 | 17 | 60 |
| RP90L | Φ96.5 × 56 | Φ8 | 1075 g | 21.91:1 | 421 | 115 | 35 | 120 |
Small-frame planetary joints, Φ32–Φ52, 86–521 g. Low-ratio planetary modules for light axes, grippers and mobile platforms. Rated torque at the rated speed shown. Voltage and protocol per datasheet — ask us for the exact build. Source: 意优科技选型手册 2026.08, p. 12.
| Model | OD | Length | Weight | Ratio | Rated power (W) | Rated speed (rpm) | Rated torque (N·m) | Peak torque (N·m) |
|---|---|---|---|---|---|---|---|---|
| PP05 | Φ32 | 34.2 mm | 86 g | 6:1 | 35 | 50 | 0.2 | 0.48 |
| PP08 | Φ40 | 56.4 mm | 189 g | 36:1 | 36 | 50 | 1.0 | 2.2 |
| PP08D | Φ40 | 47.7 mm | 199 g | 36:1 | 36 | 50 | 1.0 | 2.2 |
| PP11 | Φ52 | 67.6 mm | 390 g | 36:1 | 60 | 50 | 6.6 | 10 |
| PP11D | Φ52 | 61.2 mm | 437 g | 36:1 | 60 | 50 | 6.6 | 10 |
| PP11L | Φ52 | 84.3 mm | 521 g | 36:1 | 72 | 50 | 10 | 18 |
Specs quoted from manufacturer datasheets; final figures confirmed at quotation.
Looking for a model that is not here? We source beyond these lines →
Harmonic — the catalogue names them harmonic integrated joints. The planetary lines are RP (humanoid planetary) and PP (small-frame planetary), both listed on our planetary page.
Rated at 2000 rpm input, allowable average load, peak start-stop, and instantaneous maximum. PHU25H-110 at 101:1 is 84 / 133 / 194 / 351 N.m.
RHU, the humanoid series with a large through-bore: 52 to 130 mm frames, up to 363 N.m rated at 160:1.