Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ80 × 68 mm |
| Ratio | 101:1 |
| Rated torque @2000 rpm input | 30 N·m |
| Average output torque | 49 N·m |
| Start–stop peak | 66 N·m |
| Instantaneous max | 134 N·m |
| Weight | 900 g |
| Torque density | ≈33 N·m per kg rated |
| Encoder | Absolute, integrated |
Source: EYOU (Yiyou Robot) selection manual 2026.08, p. 9. Figures verified November 2026 — confirm the exact variant against the datasheet issued with your order.
When this is the right choice
- 33 N·m/kg rated. Nothing else we list in the 30 N·m class is under a kilogram — the Tongchuan TCHL-20 is 1.35 kg for 55 N·m, the PHU17H is 1,143 g for the same 30 N·m.
- 134 N·m instantaneous. A 4.5× margin over rated absorbs the load spike when a shoulder catches a payload during a fast descent.
- Φ80 × 68 is a compact shoulder. Short axial length matters more than diameter in a humanoid upper arm, and 68 mm is short for this torque.
- Same 101:1 as the rest of PHA, so the frame swaps without re-tuning the controller gain schedule much.
When it is the wrong choice
- No brake, no torque sensor. A shoulder that must hold position with power off needs either a brake build or a counterbalance; on this frame neither is standard.
- Continuous duty is below the peak story. 49 N·m average is fine for an arm, marginal for a hip that carries the whole torso.
- Below the TCHL-20 on absolute torque. If the design has mass budget and wants 55 N·m in the same envelope, Tongchuan is the better buy.
Alternatives at a similar level
- Tongchuan TCHL-20 — 55 N·m at 1.35 kg with brake and sensor options
- EYOU RHU25L-80 — 47 N·m at 1,266 g with a through-bore for leg cabling
- Crabnova RBV3 R68 — Robot-grade build with a documented brake variant
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
PHA17H-101-C FAQ
Why is PHA lighter than PHU at the same torque?
PHU carries a dual absolute encoder and the hardware for a force-control build; PHA carries a single absolute encoder and no force control. Same gear set class, less instrumentation, 243 g less mass at Φ80.
Can this frame take a hip?
Hip roll on a small humanoid, yes; hip pitch on anything above 30 kg, no — the continuous rating (49 N·m average) is the limit, not the 134 N·m peak. For hip pitch look at RHU32H-120 or RHU40H-130.
How long does it take to ship?
Confirmed per order at quotation. Connector build, cable length and the factory schedule at the time all move it; the ship date is stated on the quotation.
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