Four Chinese manufacturers dominate low-voltage (24–48 V) harmonic joint modules for humanoids, and each names its torque differently. This page puts them on one scale so you can find the equivalent model in every line.
How to read the torque figures
- Rated torque is quoted at 2000 rpm input (or the manufacturer's "average max" where a 2000 rpm figure is not published).
- Peak torque is the start–stop peak — what the gearbox survives briefly, not what it runs at.
- Brands that publish four torque tiers are matched on the 2000 rpm rated value.
- Columns group models covering roughly the same torque band (±10%).
Cross-brand reference by torque band
| Band (rated / peak N·m) | Ti5 PRO | Ti5 PRO-S | Crabnova | EYOU | Tongchuan |
|---|---|---|---|---|---|
| ~2 / 6 | — | — | R48-Lite (5/11, 0.26 kg) | PHA08L-101 (1.65/3.3, 207 g) | — |
| ~5 / 11 | RI40-52 51:1 (3.5/8.3, 0.32 kg) | — | R48-DNN (6.5/16, 0.27 kg) | PHA11H-101 (5/11, 375 g) | TCHL-11 100:1 (5.3/19, 0.37 kg) |
| ~7 / 23 | RI50-70 51:1 (6.6/23, 0.66 kg) | RI50-60 51:1 (6.6/23, 0.45 kg) | R58-DNN (20/45, 0.55 kg) | PHU14H-70 101:1 (9.6/34, 812 g) | TCHL-14 101:1 (6.5/24, 0.45 kg) |
| ~20 / 42 | RI60-80 51:1 (19.8/42, 1.03 kg) | RI60-70 51:1 (19.8/42, 0.73 kg) | R58-DNN (20/45, 0.55 kg) · R68-Lite (33/82, 0.74 kg) | PHU17H-80 51:1 (19.8/42, 1143 g) | — |
| ~30 / 67 | RI60-80 101:1 (30/66, 1.03 kg) | RI60-70 101:1 (30/66, 0.73 kg) | R68-DNN (33/82, 0.83 kg) | PHU17H-80 101:1 (30/66, 1143 g) | TCHL-17 101:1 (29/67, 0.93 kg) |
| ~50 / 102 | RI70-90 81:1 (42/91, 1.27 kg) | RI70-80 81:1 (42/91, 0.90 kg) | R83-DNN (53/120, 1.26 kg) · R83-FBN (53/120, 1.40 kg) | PHU20H-90 81:1 (42/91, 1582 g) | TCHL-20 101:1 (49/102, 1.28 kg) |
| ~84 / 194 | RI80-110 101:1 (84/194, 2.06 kg) | RI80-97 101:1 (84/194, 1.50 kg) | R102-FBN (147/350, 2.20 kg) | PHU25H-110 101:1 (84/194, 2354 g) | TCHL-25 101:1 (83/194, 1.85 kg) |
| ~169 / 411 | RI100-142 101:1 (169/411, 3.96 kg) | RI100-120 101:1 (169/411, 2.52 kg) | R120-FBN (180/450, 4.10 kg) | PHU32H-142 101:1 (169/411, 5650 g) | TCHL-32 101:1 (169/411, 3.30 kg) |
| ~300 / 650+ | RI110-170 121:1 (363/762, 6.84 kg) | — | R120-MAX-FBN (300/600, 4.60 kg) | RHU40H-130 120:1 (248/648, 5820 g) · PHU40H-170 121:1 (320/762, 8520 g) | — |
Rated torque at 2000 rpm input; peak is the start–stop peak. Sources: Tongchuan 2026 actuator selection manual (English), 龟蟹智能产品册 V3.0.1, 意优科技选型手册 2026.08. Ti5 figures are from our datasheet and are being re-checked against the latest catalogue.
Planetary alternatives by torque band
The table above is harmonic-only. If the axis takes impact or reversing loads, these are the planetary options in the same torque range — lower cost at the size, more backlash.
| Rated torque (N·m) | EYOU planetary | Size (OD × L) | Weight |
|---|---|---|---|
| 0.2 | PP05 | Φ32 × 34.2 | 86 g |
| 1.0 | PP08 / PP08D | Φ40 × 56.4 / 47.7 | 189 / 199 g |
| 6.6 | PP11 / PP11D | Φ52 × 67.6 / 61.2 | 390 / 437 g |
| 10 | PP11L | Φ52 × 84.3 | 521 g |
| 12 | RP70L | Φ77 × 52.5 | 670 g |
| 17 | RP70H | Φ77 × 58.3 | 760 g |
| 35 | RP90L | Φ96.5 × 56 | 1075 g |
Ti5 PRO / PRO-S and the DAMIAO DM-J line are not in either table — we are confirming their reduction architecture with the manufacturers. See every line →
Brand positioning at a glance
| Ti5 | Crabnova | EYOU | Tongchuan | |
|---|---|---|---|---|
| Voltage | 24–80 V DC wide input | 48 V DC | 24–48 V (PHA 24–36 V) | 48 V DC |
| Protocols | CAN / CAN + EtherCAT | CANopen / CAN-FD / EtherCAT | CANopen / CAN-FD / EtherCAT (PHA: CANopen only) | CAN / EtherCAT |
| Encoders | Dual absolute, single or dual optional | Dual 19-bit single-turn (Lite: dual 23-bit magnetic) | Dual absolute 19-bit (PHU/RHU), 16-bit (PHA) | Motor 17-bit + output 19-bit (TCHR-I); 23-bit (HarmoCore) |
| Backlash | — | ≤ 30 arcsec | ≤ 30 arcsec (per datasheet) | ≤ 60 arcsec transmission, ≤ 10 arcsec repeatability (TCHL) |
| Force control | Optional | Standard on performance / waist series | PHU-F / RHU-F ±0.5% FS, 8 kHz | On selected series |
| Stand-out | Lightest at a given envelope, OD from Φ30 | Five sub-series, high torque per gram | Highest harmonic joint shipment volume in China | In-house reducer, 300k units/year capacity |
Series map
- Ti5 — PRO (11 models, OD Φ30–110) and PRO-S (7 models, compact variant). Brand page →
- Crabnova — Lite (101:1, 0.26–0.74 kg), DNN base, FBN waist-dedicated, RBV3 with brake + torque sensor, and the RMV3 industrial line (Φ52–Φ170). Brand page →
- EYOU — PHA lightweight, PHU enhanced (dual encoder), RHU humanoid-specific with large through-bore. Brand page →
- Tongchuan — TCHL lightweight harmonic actuators, six frames with three ratios each (the TCHR-I integrated joints and TCP planetary modules are also available). Brand page →
FAQ
Which brand is lightest for a given torque?
Ti5 PRO-S leads on mass at small and mid frames; Crabnova Lite is competitive at the smallest sizes; Tongchuan HarmoCore wins at the top of the range.
Which line should I pick for force control?
EYOU PHU-F / RHU-F (±0.5% FS, 8 kHz sampling) and Crabnova's performance series with integrated torque sensor and brake. For vertical axes, add a holding brake.
Do all four support EtherCAT?
Yes except EYOU PHA, which is CANopen only. Ti5 offers CAN or combined CAN + EtherCAT variants.
Can I mix brands in one robot?
Yes, and most builds do. Keep the protocol common (EtherCAT is easiest at high axis counts) and plan mounting flanges per frame size.