EYOU RHU32H-120 Harmonic Drive Robot Joint Actuator, 120/160 Ratio, for Humanoid Robots

EYOU

$1,041.00 USD

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Version RHU32H-120

Brake Without Brake With Brake

Ratio 120 160

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Overview

The EYOU RHU32H-120 is a harmonic-drive robot joint actuator for humanoid robot joints, offered with 120 or 160 reduction ratios and with or without a brake. It combines a built-in driver, 48 VDC rated operation, dual absolute encoding, and EtherCAT/CANopen communication. Select the ratio for the listed output torque and speed values; brake selection affects the stated B/N weight.

Features

Harmonic reducer with a built-in driver.
Dual absolute encoder: motor side 17 bit and reducer side 19 bit.
Power, CAN FD, EtherCAT, and STO terminal interfaces.
EtherCAT and CANopen communication protocols.
Control modes: Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), etc.
Available with or without a brake; 120 and 160 reduction-ratio options are offered.

Specifications

Parameter	Value
Module Model	RHU32H-120
Reducer Type	Harmonic
Motor Rated Power (W)	471
Motor Rated Torque (N·m)	1.8
Motor Peak Torque (N·m)	4.5
Reduction Ratio	120 / 160
Joint Rated Power (W) - Life Constraint	216 / 221
Rated Torque at 2000 rpm Input (N·m)	124 / 169
Average Load Torque at Output (N·m)	197 / 267
Peak Torque at Output (N·m)	270 / 459
Max Allowable External Torque at Output (Instantaneous) (N·m)	848 / 848
Backlash (arcsec)	≤20 / ≤20
Rated Speed at Output (rpm) - Life Constraint	17 / 12.5
Peak Speed at Output (rpm)	22 / 16.25
Brake (B/N)	B/N
Dimensions (Outer Diameter × Axial) (mm)	Φ120 × 126
Weight (kg) (B/N)	4.36 / 4.08
Hollow Diameter (mm)	22
Housing Appearance (Process Color)	Anodized (Non-sandblasted)
Reducer Appearance (Process Color)	Outer Ring Blackened
Radial (dynamic/static) Allowable Load at Output (N)	1350
Axial (dynamic/static) Allowable Load at Output (N)	1350
Output Bending Moment (N·m)	460
Reducer Torsional Stiffness (N·m/rad)	99000
Reducer Input Inertia (kg·mm²) (B)	397 / 397
Equivalent Joint Output Inertia (kg·mm²) (B)	5716800 / 10163200
Rated Operating Voltage (VDC)	48
Operating Voltage Range (VDC)	24–48
Driver	Built-in
Encoder/Bit (bit)	Dual Absolute / Motor side 17 Bit & Reducer side 19 Bit
Driver Interface (see terminal model description)	Power (DC in DC out), CAN FD (In, Out), EtherCAT (In, Out), STO (1, 2)
Communication Protocol (see communication description)	EtherCAT / CANopen
Control Modes	Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), etc.
Operating Ambient Temperature (°C)	-20–60
Housing Temperature Rise (°C)	≤60
Noise (dB)	≤60
Life (h)	>10000