Global Robotics
Huayan Humanoid Joint Module 32 is an integrated actuator for humanoid and collaborative robotics. The official Model 32 configuration combines a frameless torque motor, precision transmission, dual magnetic encoder and drive controller. Its maximum outer diameter is 132 mm, length is 148 mm and mass is 5.8 kg. The current parameter table lists 178 Nm rated torque, 459 Nm peak torque, 20 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.
Product family: Huayan Universal Humanoid Joint Modules
Source-backed claims. Configuration, workload and evidence type matter when comparing products.
Electromagnetic Friction Brake
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column. Chinese and English tables agree for this size.
Brake | \ | \ | \ | Electromagnetic Friction Brake | Electromagnetic Friction Brake | Electromagnetic Friction Brake
EtherCAT
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Communication | EtherCAT | EtherCAT | EtherCAT | EtherCAT | EtherCAT | EtherCAT
Dual Magnetic Grating Encoder
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
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
19 bit
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Manufacturer overview for the Universal Humanoid Joint Module family.
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.
23 mm
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Inner Hole Diameter（mm） | 12 | 9 | 9 | 13 | 16 | 23
148 mm
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Length (mm) | 65 | 75 | 85 | 98 | 109 | 148
281 Nm
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Maximum Allowable Average Load Torque (Nm) | 8.9 | 14 | 51 | 64 | 140 | 281
132 mm
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Maximum Outer Diameter (mm) | 55 | 62 | 72 | 84 | 100 | 132
20 rpm
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Maximum Output Speed (rpm) | 30 | 30 | 30 | 30 | 30 | 20
65 A
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Peak Current (A) | 5 | 6 | 12 | 14.5 | 35 | 65
459 Nm
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Peak Torque (Nm) | 19 | 35 | 70 | 107 | 204 | 459
22 A
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Rated Current (A) | 2 | 2 | 4 | 6 | 16 | 22
178 Nm
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Rated Torque (Nm) | 6 | 10 | 33 | 59 | 87 | 178
48 V
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Rated Voltage (V) | DC48V | DC48V | DC48V | DC48V | DC48V | DC48V
≤30 arc sec
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Repeatability (arc sec) | ≤30 | ≤30 | ≤30 | ≤30 | ≤30 | ≤30
120
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Speed Ratio | 100 | 100 | 100 | 100 | 100 | 120
5.8 kg
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Weight (kg) | 0.39 | 0.685 | 1.07 | 1.72 | 2.53 | 5.8
0–45 °C
Manufacturer specification
Configuration: Huayan Humanoid Joint Module 32; Exact Model 32 column in the current official parameter table.
Working Temperature (°C) | 0~45 | 0~45 | 0~45 | 0~45 | 0~45 | 0~45
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