Harmonic Servo Robot Joints

The Harmonic ProServo is a new generation of micro-integrated flexible servo joints engineered for high-precision robotics. With a built-in drive that removes the need for external controllers, it adopts a high-precision harmonic reducer and a high energy-density torque motor. This design excels in applications that require exceptional positioning accuracy, large torque capacity, and long-term operational stability.

High-precision Harmonic Reducers with Reverse Backlash of only 15 Arcsec

PH25

Servo robot joint with Harmonic Reducer.

PH25-81/101 Introduction [Unit: mm]

Diameter:

Φ110 mm

Length:

98.5 mm

Weight:

3098g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

18 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

81:1 / 101:1

Reverse Backlash:

15 Arcsec

PH25

Servo robot joint with Harmonic Reducer.

PH25-81/101 Introduction [Unit: mm]

Diameter:

Φ110 mm

Length:

98.5 mm

Weight:

3098g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

18 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

81:1 / 101:1

Reverse Backlash:

15 Arcsec

PH25

Servo robot joint with Harmonic Reducer.

PH25-81/101 Introduction [Unit: mm]

Diameter:

Φ110 mm

Length:

98.5 mm

Weight:

3098g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

18 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

81:1 / 101:1

Reverse Backlash:

15 Arcsec

PH20

Servo robot joint with Harmonic Reducer.

PH20-81/121 Introduction [Unit: mm]

Diameter:

Φ90 mm

Length:

88.3 mm

Weight:

1991g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

18 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

81:1 / 121:1

Reverse Backlash:

15 Arcsec

PH20

Servo robot joint with Harmonic Reducer.

PH20-81/121 Introduction [Unit: mm]

Diameter:

Φ90 mm

Length:

88.3 mm

Weight:

1991g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

18 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

81:1 / 121:1

Reverse Backlash:

15 Arcsec

PH20

Servo robot joint with Harmonic Reducer.

PH20-81/121 Introduction [Unit: mm]

Diameter:

Φ90 mm

Length:

88.3 mm

Weight:

1991g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

18 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

81:1 / 121:1

Reverse Backlash:

15 Arcsec

PH17

Servo robot joint with Harmonic Reducer.

PH17-51/101 Introduction [Unit: mm]

Diameter:

Φ80 mm

Length:

88.3 mm

Weight:

1350g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

14 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

51:1 / 101:1

Reverse Backlash:

15 Arcsec

PH17

Servo robot joint with Harmonic Reducer.

PH17-51/101 Introduction [Unit: mm]

Diameter:

Φ80 mm

Length:

88.3 mm

Weight:

1350g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

14 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

51:1 / 101:1

Reverse Backlash:

15 Arcsec

PH17

Servo robot joint with Harmonic Reducer.

PH17-51/101 Introduction [Unit: mm]

Diameter:

Φ80 mm

Length:

88.3 mm

Weight:

1350g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

14 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

51:1 / 101:1

Reverse Backlash:

15 Arcsec

PH14

Servo robot joint with Harmonic Reducer.

PH14-51/101 Introduction [Unit: mm]

Diameter:

Φ70 mm

Length:

77.5 mm

Weight:

1108g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

14 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

51:1 / 101:1

Reverse Backlash:

15 Arcsec

PH14

Servo robot joint with Harmonic Reducer.

PH14-51/101 Introduction [Unit: mm]

Diameter:

Φ70 mm

Length:

77.5 mm

Weight:

1108g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

14 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

51:1 / 101:1

Reverse Backlash:

15 Arcsec

PH14

Servo robot joint with Harmonic Reducer.

PH14-51/101 Introduction [Unit: mm]

Diameter:

Φ70 mm

Length:

77.5 mm

Weight:

1108g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

14 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

51:1 / 101:1

Reverse Backlash:

15 Arcsec

PH11

Servo robot joint with Harmonic Reducer.

PH11-51/101 Introduction [Unit: mm]

Diameter:

Φ52 mm

Length:

67.7 mm

Weight:

495g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

6.0 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

51:1 / 101:1

Reverse Backlash:

15 Arcsec

PH11

Servo robot joint with Harmonic Reducer.

PH11-51/101 Introduction [Unit: mm]

Diameter:

Φ52 mm

Length:

67.7 mm

Weight:

495g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

6.0 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

51:1 / 101:1

Reverse Backlash:

15 Arcsec

PH11

Servo robot joint with Harmonic Reducer.

PH11-51/101 Introduction [Unit: mm]

Diameter:

Φ52 mm

Length:

67.7 mm

Weight:

495g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

6.0 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

51:1 / 101:1

Reverse Backlash:

15 Arcsec

PH08

Servo robot joint with Harmonic Reducer.

PH08-51/101 Introduction [Unit: mm]

Diameter:

Φ40 mm

Length:

47.5 mm

Weight:

188g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

4.6 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

51:1 / 101:1

Reverse Backlash:

15 Arcsec

PH08

Servo robot joint with Harmonic Reducer.

PH08-51/101 Introduction [Unit: mm]

Diameter:

Φ40 mm

Length:

47.5 mm

Weight:

188g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

4.6 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

51:1 / 101:1

Reverse Backlash:

15 Arcsec

PH08

Servo robot joint with Harmonic Reducer.

PH08-51/101 Introduction [Unit: mm]

Diameter:

Φ40 mm

Length:

47.5 mm

Weight:

188g

Basic Parameters

Motor Type:

Brushless Servo Motor

Reducer type:

Harmonic Reducer

Hollow Inner Diameter:

4.6 mm

Encoder Accuracy:

19 bit

Reduction Ratio:

51:1 / 101:1

Reverse Backlash:

15 Arcsec

APIs and Integration

Harmonic proServos feature built-in motion control, high-precision harmonic reducers, and compact torque motors. Our self-developed APIs covers flexible control, path planning, and trajectory interpolation. They are compatible with Linux (ROS), Windows, and Android for fast and cost-efficient integration.

Designed and manufactured by Costr Motor Technology, a leading innovator in China’s motion control industry, these joints have already been adopted by numerous enterprises in the industrial sector.

Harmonic Servo Robot Joints

High-precision Harmonic Reducers with Reverse Backlash of only 15 Arcsec

PH25

PH25

PH25

PH20

PH20

PH20

PH17

PH17

PH17

PH14

PH14

PH14

PH11

PH11

PH11

PH08

PH08

PH08

APIs and Integration

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