DC servo-gearmotor TCHL

brushless DCservomotorharmonic

Introduction
The TCHL Harmonic Joint Module integrates a torque sensor directly into the harmonic drive reducer and includes integrated cables and connectors for simplified robot wiring. The built‑in torque measurement enables precise actuator load detection and supports safer human–robot interaction through closed‑loop force and position control. The module is designed for compact, high‑integration applications where space, weight and reliable signal routing are critical.

Multiple Connection Methods

• Double‑sided mounting
• Single‑sided mounting
• Bilateral through fixation
• Bottom mounting
• Radial fixation
• Rod fixation

Designer Speaking
Developed for embodied‑intelligence and compact robotic systems, TCHL provides comprehensive mounting interfaces while minimizing joint volume and mass. The output torque sensor is integrated without increasing size or weight, improving dynamic response and data quality. The result is lower integration complexity for adjacent components and easier system assembly.

Features of TCHL Harmonic Joint Module

• Integrated force/torque sensor on reducer side for closed‑loop force and position control
• Fully integrated cables and connectors for faster, more reliable wiring
• Ultra‑light options (example: size 14 ≈ 0.5 kg without brake)
• Innovative integrated electrical connectors supporting flexible installation configurations
• Supports CAN / CANFD and EtherCAT communication protocols
• Integrated power supply and multi‑protocol bus that can be routed through hollow shaft for sizes ≥14