Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ102 mm · 89.6 mm body length |
| Ratio | 161:1 |
| Rated torque | 147 N·m |
| Peak torque | 350 N·m |
| Rated output speed | 12 rpm |
| Weight | 2.60 kg |
| Through-bore | Φ20 mm |
| Torque sensor | 350 N·m range, integrated |
| Encoder | Dual 19-bit absolute (drawing configuration) |
| Comms | CAN FD · EtherCAT available |
| Supply | 48 V DC · 9.3 A rated / 33.8 A peak |
| Ingress protection | IP67 variant available |
Source: Crabnova drawing CE-RBV3-R102-161-DB24T-CFDIJ-PS-IP67 (2026-03-25) and the RBV3 parameter sheet of 2026-10-11. Figures verified November 2026 — confirm the exact variant against the datasheet issued with your order.
When this is the right choice
- Waist yaw and knee on a mid-size humanoid. 350 N·m peak with a 161:1 ratio gives holding torque without a second stage.
- Φ20 mm bore. A waist harness can pass through the axis instead of around the torso.
- IP67 option for washdown or outdoor cells — few harmonic modules in this class offer it.
- Input torques are documented per drawing (rated and peak current), so the drive can be sized without guessing.
When it is the wrong choice
- Light arms. 2.6 kg at the shoulder is a design decision, not a detail.
- High-speed axes. 12 rpm output at the rated point is deliberate; a sorting wrist needs another frame.
- Frames above 200 N·m. That is R120 or R120-MAX.
Alternatives at a similar level
- Crabnova CE-RBV3-R120-161 — 180 N·m at 4.10 kg with a 500 N·m sensor
- Crabnova CE-RBV3-R83-101 — 53 N·m at 1.60 kg — shoulder and waist
- Tongchuan TCHL-32 — 169 N·m at 3.30 kg, brake and torque sensor optional
- EYOU RHU32H-120 — 124–169 N·m at 4.08 kg, Φ120 frame
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
CE-RBV3-R102-161 FAQ
Why 161:1 at this frame?
Because the axis it replaces is a waist or a knee: high ratio, low output speed, high holding torque. The 101:1 version of R102 that appears in some catalogues is a different machine — check the part number on the drawing, not the catalogue column.
Is the encoder 19-bit or 21-bit?
The R102-161 drawing we work from specifies 19+19-bit absolute. Other RBV3 frames use 21-bit. We confirm the encoder configuration on the drawing issued with your quotation rather than quoting from the catalogue.
IP67 — is that the joint or the connector?
The joint is built as an IP67 variant with sealed connectors; both have to be ordered together.
How long does it take to ship?
Confirmed per order at quotation, and this frame is built rather than stocked more often than the smaller ones.
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