When to use them
Pick harmonic when
the axis needs high reduction in a short envelope, precise positioning, and torque density — shoulders, elbows, wrists, knees, ankles and waist.
Think twice when
the axis takes repeated impact or heavy reversing loads. A harmonic flexspline is not forgiving; see our planetary range for those axes.
Selection tables
Tongchuan (TC Drive / HarmoCore) — TCHL lightweight harmonic actuators
Six frames, Φ52–Φ131, each offered in three reduction ratios. 48 V DC · EtherCAT / CAN-FD · dual 17-bit single-turn absolute encoder · transmission accuracy ≤60 arcsec, repeatability ≤10 arcsec · IP54. Rated torque is quoted at 2000 rpm input at the highest ratio listed; holding-brake variants (-B) exist for every frame. Source: 2026 Tongchuan actuator selection manual (English), pp. 48–58.
| Model | Size (OD × L) | Ratios | Rated @2000 rpm (N·m) | Peak start/stop (N·m) | Peak output (N·m) | Weight | Through-bore |
|---|---|---|---|---|---|---|---|
| TCHL-11 | Φ52 × 57 | 50 / 80 / 100 | 5.3 | 19 | 25 | 0.37 kg | Φ8 |
| TCHL-14 | Φ65 × 55 | 51 / 81 / 101 | 6.5 | 24 | 36 | 0.45 kg | Φ10 |
| TCHL-17 | Φ77 × 76 | 51 / 81 / 101 | 29 | 67 | 136 | 0.93 kg | Φ12 |
| TCHL-20 | Φ87 × 77.5 | 51 / 81 / 101 | 49 | 102 | 181 | 1.28 kg | Φ12 |
| TCHL-25 | Φ99 × 87 | 81 / 101 / 121 | 83 | 194 | 351 | 1.85 kg | Φ15 |
| TCHL-32 | Φ131 × 103.5 | 81 / 101 / 121 | 169 | 411 | 799 | 3.30 kg | Φ22 |
Crabnova (Juxiedrive) — RB Lite series
Lightweight harmonic joints, 101:1, 0.26–0.74 kg. 48 V DC · CANopen / CAN-FD / EtherCAT · dual 23-bit magnetic encoder · ≤30 arcsec. Source: 巨蟹智能产品册 V3.0.1, p. 5.
| Model | Ratio | Rated (N·m) | Peak (N·m) | Weight | Size (OD × L) | Through-bore | Typical axis |
|---|---|---|---|---|---|---|---|
| CE-RB-R48-101-Lite | 101:1 | 5 | 11 | 0.26 kg | Φ48 × 45.5 | Φ8 | Neck, wrist |
| CE-RB-R58-101-Lite | 101:1 | 20 | 45 | 0.46 kg | Φ58 × 58.0 | Φ8 | Wrist, elbow |
| CE-RB-R68-101-Lite | 101:1 | 33 | 82 | 0.74 kg | Φ68 × 73.3 | Φ18 | Shoulder, elbow |
Crabnova (Juxiedrive) — RB DNN base series
Base harmonic joints, 101:1, 0.27–1.26 kg. 48 V DC · CANopen / CAN-FD / EtherCAT · dual 23-bit magnetic encoder · ≤30 arcsec. Source: 巨蟹智能产品册 V3.0.1, p. 6.
| Model | Ratio | Rated (N·m) | Peak (N·m) | Weight | Size (OD × L) | Through-bore | Typical axis |
|---|---|---|---|---|---|---|---|
| CE-RB-R48-101-DNN | 101:1 | 6.5 | 16 | 0.27 kg | Φ48 × 53.6 | Φ8 | Neck, wrist |
| CE-RB-R58-101-DNN | 101:1 | 20 | 45 | 0.55 kg | Φ58 × 65.2 | Φ8 | Wrist, elbow |
| CE-RB-R68-101-DNN | 101:1 | 33 | 82 | 0.83 kg | Φ68 × 77.6 | Φ12 | Shoulder, elbow |
| CE-RB-R83-101-DNN | 101:1 | 53 | 120 | 1.26 kg | Φ83 × 78.8 | Φ12 | Shoulder, elbow |
Crabnova (Juxiedrive) — RB FBN waist series
Waist-dedicated harmonic joints, up to 300 N·m rated. 48 V DC · CANopen / CAN-FD / EtherCAT · ≤30 arcsec. Source: 巨蟹智能产品册 V3.0.1, p. 6.
| Model | Ratio | Rated (N·m) | Peak (N·m) | Weight | Size (OD × L) | Through-bore | Typical axis |
|---|---|---|---|---|---|---|---|
| CE-RB-R83-101-FBN | 101:1 | 53 | 120 | 1.40 kg | Φ83 × 74.0 | Φ12 | Waist |
| CE-RB-R102-161-FBN | 161:1 | 147 | 350 | 2.20 kg | Φ102 × 90.3 | Φ20 | Waist |
| CE-RB-R120-161-FBN | 161:1 | 180 | 450 | 4.10 kg | Φ120 × 110.3 | Φ23 | Waist |
| CE-RB-R120-MAX-161-FBN | 161:1 | 300 | 600 | 4.60 kg | Φ120 × 125.0 | Φ23 | Waist |
Crabnova (Juxiedrive) — RBV3 performance series
Same frames with a holding brake and torque sensor built in. Adds a power-off holding brake and torque sensor (≤0.5% FS, 0.1% FS resolution) in the same envelope. Torque figures per our datasheet — the RBV3 table in catalogue V3.0.1 is not machine-readable, so these are confirmed with the factory at quotation.
| Model | Ratio | Rated (N·m) | Peak (N·m) | Weight | Size (OD × L) | Through-bore | Typical axis |
|---|---|---|---|---|---|---|---|
| CE-RBV3-R68-101 | 101:1 | 33 | 82 | 1.15 kg | Φ68 × 82.6 | — | Shoulder, elbow |
| CE-RBV3-R83-101 | 101:1 | 53 | 120 | 1.60 kg | Φ83 × 79.3 | — | Shoulder, waist |
| CE-RBV3-R102-161 | 161:1 | 147 | 350 | 2.60 kg | Φ102 × 89.6 | — | Waist, knee |
| CE-RBV3-R120-161 | 161:1 | 180 | 450 | 4.10 kg | Φ120 × 116.3 | — | Waist, knee |
Crabnova (Juxiedrive) — RMV3 industrial series
Seven frames, Φ52–Φ170, two ratios each. 48 V DC · CANopen / CAN-FD / EtherCAT · dual 23-bit magnetic encoder · ≤30 arcsec · holding brake · >10,000 h life. Source: 巨蟹智能产品册 V3.0.1, p. 12.
| Model | Ratio | Rated (N·m) | Peak (N·m) | Weight | Size (OD × L) | Through-bore |
|---|---|---|---|---|---|---|
| CE-RMV3-R52 | 51:1 | 3.5 | 8.3 | 0.45 kg | Φ52 × 57 | Φ11 |
| CE-RMV3-R52 | 101:1 | 5.0 | 11 | 0.45 kg | Φ52 × 57 | Φ11 |
| CE-RMV3-R70 | 51:1 | 7 | 23 | 0.80 kg | Φ70 × 58.5 | Φ18 |
| CE-RMV3-R70 | 101:1 | 10 | 36 | 0.80 kg | Φ70 × 58.5 | Φ18 |
| CE-RMV3-R80 | 51:1 | 21 | 44 | 1.18 kg | Φ80 × 63.9 | Φ18 |
| CE-RMV3-R80 | 101:1 | 31 | 70 | 1.18 kg | Φ80 × 63.9 | Φ18 |
| CE-RMV3-R90 | 51:1 | 33 | 73 | 1.62 kg | Φ90 × 69.5 | Φ18 |
| CE-RMV3-R90 | 101:1 | 52 | 107 | 1.62 kg | Φ90 × 69.5 | Φ18 |
| CE-RMV3-R110 | 51:1 | 51 | 127 | 2.46 kg | Φ110 × 78 | Φ28 |
| CE-RMV3-R110 | 101:1 | 87 | 204 | 2.46 kg | Φ110 × 78 | Φ28 |
| CE-RMV3-R142 | 101:1 | 178 | 433 | 4.80 kg | Φ142 × 96.5 | Φ36 |
| CE-RMV3-R142 | 161:1 | 178 | 484 | 4.80 kg | Φ142 × 96.5 | Φ36 |
| CE-RMV3-R170 | 101:1 | 345 | 738 | 8.00 kg | Φ170 × 110 | Φ40 |
| CE-RMV3-R170 | 161:1 | 382 | 841 | 8.00 kg | Φ170 × 110 | Φ40 |
EYOU — PHA lightweight series
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 | — |
EYOU — PHU enhanced series
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 |
EYOU — RHU humanoid series
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 |
Specs quoted from manufacturer datasheets; final figures confirmed at quotation.
All joint modules → · Cross-brand torque reference →
FAQ
What makes a harmonic joint module different from a planetary one?
A harmonic drive reaches 50:1 to 161:1 reduction in a single stage with near-zero backlash and higher torque density. A planetary gearbox costs less at the same size, runs more efficiently and survives shock loads, but has measurably more backlash.
Which harmonic line should I start from?
Tongchuan TCHL if weight matters — from 0.37 kg. Crabnova for the widest frame range (Φ48 to Φ170) with brake and torque-sensor options. EYOU PHA, PHU and RHU for the largest torque span and ±0.5% FS force control at 8 kHz.
Can I order a single harmonic module?
Yes. Prototype quantities are normal for us and we quote samples and production together on the same terms.