TD-110-170 robot arm joint motor is the integrated robot servo motors among the robot joint motor market.The robot joint actuators equipped with ultra-thin harmonic reducer, compact structure, brushless torque motor with the same torque volume to achieve extreme optimization, high-precision multi-turn absolute encoder for cobot arm, exoskeleton robot, humanoid robot research and development of special core components.
Compact structure- 8 core components
- 1. Motor back cover
- 2. Control board
- 3. Encoder
- 4. Stator casing
- 5. Motor rotor
- 6. Motor stator
- 7. Harmonic drive
- 8. Flexspline cover
TD-110-170-PRO-XX joint actuator (without brake)
| Reduction ratio |
Start-stop peak Torque (N.m) |
Max. allowable torque at average load (N.m) |
Rated torque at 2000rpm/ (reduction ratio)(Nm) |
Output Peak Speed (RPM) |
Rated speed (RPM)
(With 1/2 rated torque) |
Backlash (arcsec) |
| 51 |
267 |
120 |
94 |
55 |
44 |
20 |
| 81 |
376 |
185 |
146 |
37 |
29 |
20 |
| 101 |
411 |
267 |
169 |
29 |
22 |
10 |
| 121 |
436 |
267 |
169 |
24 |
18 |
10 |
| 161 |
459 |
267 |
169 |
18 |
12 |
10 |
| Motor power (W) |
Supply voltage (V) |
Max. continuous current(A) |
Rated current (A) |
Resistance(Ω) |
Encoder Resolution (Bit) |
Communication bus |
| 1000 |
24-48 |
16.9 |
15.8 |
0.12 |
17 |
CAN |
| Torque constant(N.m/A) |
Inductance(mH) |
Number of pole-pairs |
Through hole(mm) |
Length(mm) |
Weight(kg) |
Inertia(g * cm2) |
| 0.175 |
0.3 |
8 |
32 |
100.5±0.5 |
3.8 |
3601 |
TD-100-142-PRO-XXB joint actuator (with brake)
| Reduction ratio |
Start-stop peak Torque (N.m) |
Max. allowable torque at average load (N.m) |
Rated torque at 2000rpm/ (reduction ratio)(Nm) |
Output Peak Speed (RPM) |
Rated speed (RPM)
(With 1/2 rated torque) |
Backlash (arcsec) |
| 51 |
523 |
255 |
169 |
34 |
22 |
20 |
| 121 |
802 |
586 |
363 |
14 |
12 |
20 |
| 161 |
841 |
586 |
363 |
10 |
7 |
10 |
| Motor power (W) |
Supply voltage (V) |
Max. continuous current(A) |
Rated current (A) |
Resistance(Ω) |
Encoder Resolution (Bit) |
Communication bus |
| 1500 |
24-48 |
30.2 |
14.1 |
0.23 |
17 |
CAN |
| Torque constant(N.m/A) |
Inductance(mH) |
Number of pole-pairs |
Through hole(mm) |
Length(mm) |
Weight(kg) |
Inertia(g * cm2) |
| 0.293 |
0.25 |
15 |
40 |
122.5±0.5 |
6.85 |
9242 |
Advantages
Compact structure and light weight
Outer diameter：170mm
Length：122.5±0.5mm (Without brake)
Hole diameter: 40mm
Weight: 6.85kg
Multiple communication protocols
1. Ethercat
2. CANopen
3. Canbus
4. Independent research and development of force control motor drivers
High precision encoder
1. Technology-leading eddy current encoder
2. 17 Multi-turn absolute encoder for Can version，the positioning accuracy is 0.05
3. 24bits+24bits dual encoder for Ethercat version, the positioning accuracy is improved by more than 0.03
Low noise permanent magnet brakes
1. Permanent magnet brake
2. The motor stops quickly
3. Motor position locked when power off suddenly
4. Low noise
Peak torque density >220Nm/kg
1. High saturation magnetic induction strength alloy
2. Car grade anti-static, military grade anti-vibration
3. Block type stator winding
4. Design of rotor motor with air gap diameter
5. Lightweight housing design
Ultra light harmonic reducer
1.Ultra light harmonic reducer, efficient load reduction，saving installation space
2.The transmission process is smooth, and the impact and vibration are small
3.Long service life over 10000 hours
High torque density frameless motor
1. High torque density frameless motor with double performance and lower power consumption
2. The ultralight is designed to fit all models on sale
Reasonable interface design
1. High torque density frameless motor with double performance and lower power consumption
2.The ultralight is designed to fit all models on sale
Application
Automation equipment
Humanoid robot upper limbs
6 DOF robotic arm
Pan and tilt systems
