Electric servo-actuator

rotarysynchronouspermanent magnet

Overview
Harmonic drive rotary actuators are core components for precision medical devices, providing compact, integrated solutions for accurate motion and control. By combining reducer, frameless torque motor and sensors in one module, they simplify mechanical integration and support strict medical safety and repeatability requirements.

Integration & Design
These actuators integrate ultrathin frameless torque motors, high‑precision encoders, brakes and, optionally, built‑in drivers and torque sensors into a single module. Fully integrated cabling and connectors reduce assembly time and compatibility risks. Variants include flange mounts, hollow‑bore designs and T‑shaped layouts for space‑constrained joints.

Applications (examples shown)

• Automatic slide/scanner systems requiring compact, repeatable rotation
• Vascular interventional robots and surgical manipulators
• Upper‑limb and lower‑limb rehabilitation robots
• Otolith repositioning therapy devices and precision positioning equipment
• Rotary tables and precision medical instrumentation

Product Variants & Features

• HAG series: joint actuators with built‑in driver, high‑precision encoders and optional STO and brake functions
• TCHL series: harmonic joint modules with integrated torque sensor for load detection and safer human–robot interaction
• HAT / HATF / HAS / HASF: hollow‑bore and flange variants for cable/pass‑through and axial/radial load support
• Large hollow‑bore rotary actuators for passage of lead screws, cables or optics in compact assemblies
• T‑type harmonic joint modules optimized for collaborative robot arms and simplified maintenance

Performance & Control

• Encoder options: single‑turn and multi‑turn absolute encoders (Tamagawa protocol) with resolutions up to multi‑20‑bit configurations; dual‑encoder setups available
• High‑precision configurations example: 20‑bit on high‑speed side and 19‑bit on output side for tight closed‑loop control
• Typical supply voltage range for joint motors: DC 24 V–48 V

Benefits

• Integrated modules reduce system complexity and assembly time
• Improved positioning accuracy and repeatability versus separate motor + reducer solutions
• Customizable options for waterproofing, low‑temperature operation, STO, brakes and embedded torque sensing

Technical specifications

• Integrated components (model dependent): harmonic reducer, frameless torque motor, brake, encoder, built‑in/extern driver, torque sensor
• Supported harmonic drive model examples: 11, 14, 17, 20, 25, 32, 40, 50, 58
• Rated torque range (typical across families): approx. 4 N·m to 1200 N·m (model dependent)
• Outer diameter examples: approx. 62 mm to 220 mm (model dependent)
• Encoder resolutions: single‑turn 17‑bit / multi‑turn 16‑bit or single‑turn 23‑bit / multi‑turn 16‑bit; optional dual encoders
• Optional functions: integrated brake, STO (Safe Torque Off), built‑in driver, embedded torque sensor
• Environmental options: waterproof variants (splash/jet or short‑term underwater up to ~1 m for selected modules), low‑temperature adaptations
• Typical supply voltage for robot joint motors: DC 24 V–48 V