Product details

Huayan Humanoid Joint Module 20

Actuators & Joint Modules

Huayan Robotics

Huayan Humanoid Joint Module 20

About this product

Huayan Humanoid Joint Module 20 is an integrated actuator for humanoid and collaborative robotics. The official Model 20 configuration combines a frameless torque motor, precision transmission, dual magnetic encoder and drive controller. Its maximum outer diameter is 84 mm, length is 98 mm and mass is 1.72 kg. The current parameter table lists 59 Nm rated torque, 107 Nm peak torque, 30 rpm maximum output speed, DC 48 V operation and EtherCAT communication. The central bore supports internal cable routing. Brake and torque-sensor configuration require confirmation because the official Chinese and English tables differ.

Model
Huayan Humanoid Joint Module 20
Category
Actuators & Joint Modules, Components

Product family: Huayan Universal Humanoid Joint Modules

Specifications & evidence

Source-backed claims. Configuration, workload and evidence type matter when comparing products.

Brake

Electromagnetic Friction Brake

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column. Chinese and English tables agree for this size.

Universal Humanoid Joint Module
Brake | \ | \ | \ | Electromagnetic Friction Brake | Electromagnetic Friction Brake | Electromagnetic Friction Brake

Communication interface

EtherCAT

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Communication | EtherCAT | EtherCAT | EtherCAT | EtherCAT | EtherCAT | EtherCAT

Encoder

Dual Magnetic Grating Encoder

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Encoder | Dual Magnetic Grating Encoder | Dual Magnetic Grating Encoder | Dual Magnetic Grating Encoder | Dual Magnetic Grating Encoder | Dual Magnetic Grating Encoder | Dual Magnetic Grating Encoder

Encoder resolution

19 bit

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Manufacturer overview for the Universal Humanoid Joint Module family.

Universal Humanoid Joint Module
The Huayan humanoid joint module integrates a high-performance frameless torque motor, precision reducer, 19-bit high-resolution encoder, high-sensitivity torque sensor, high-performance drive controller, and intelligent algorithms into a single unit.

Inner hole diameter

13 mm

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Inner Hole Diameter(mm) | 12 | 9 | 9 | 13 | 16 | 23

Length

98 mm

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Length (mm) | 65 | 75 | 85 | 98 | 109 | 148

Maximum allowable average load torque

64 Nm

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Maximum Allowable Average Load Torque (Nm) | 8.9 | 14 | 51 | 64 | 140 | 281

Maximum outer diameter

84 mm

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Maximum Outer Diameter (mm) | 55 | 62 | 72 | 84 | 100 | 132

Maximum output speed

30 rpm

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Maximum Output Speed (rpm) | 30 | 30 | 30 | 30 | 30 | 20

Peak current

14.5 A

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Peak Current (A) | 5 | 6 | 12 | 14.5 | 35 | 65

Peak torque

107 Nm

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Peak Torque (Nm) | 19 | 35 | 70 | 107 | 204 | 459

Rated current

6 A

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Rated Current (A) | 2 | 2 | 4 | 6 | 16 | 22

Rated torque

59 Nm

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Rated Torque (Nm) | 6 | 10 | 33 | 59 | 87 | 178

Rated voltage

48 V

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Rated Voltage (V) | DC48V | DC48V | DC48V | DC48V | DC48V | DC48V

Repeatability

≤30 arc sec

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Repeatability (arc sec) | ≤30 | ≤30 | ≤30 | ≤30 | ≤30 | ≤30

Speed ratio

100

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Speed Ratio | 100 | 100 | 100 | 100 | 100 | 120

Weight

1.72 kg

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Weight (kg) | 0.39 | 0.685 | 1.07 | 1.72 | 2.53 | 5.8

Working temperature

0–45 °C

Manufacturer specification

Configuration: Huayan Humanoid Joint Module 20; Exact Model 20 column in the current official parameter table.

Universal Humanoid Joint Module
Working Temperature (°C) | 0~45 | 0~45 | 0~45 | 0~45 | 0~45 | 0~45

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