Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ110 × 94 mm |
| Ratios | 81:1 / 101:1 / 121:1 |
| Rated torque @2000 rpm input | 78 / 84 / 84 N·m |
| Average output torque | 107 / 133 / 133 N·m |
| Start–stop peak | 169 / 194 / 207 N·m |
| Instantaneous max | 315 / 351 / 376 N·m |
| Weight | 2,354 g |
| Encoder | Dual absolute encoder |
| Force-control version | ±0.5% FS, 0.1% FS resolution, 8 kHz sampling |
| Output flange option | -F suffix adds an output flange (mechanical, not force control) |
| Brake option | Documented from Φ52 up — confirm per frame |
| Comms | EtherCAT / CAN, per configuration |
Source: EYOU (Yiyou Robot) selection manual 2026.08, pp. 3–5, and the PHU series specification sheet v1.14 for the force-control figures. Figures verified November 2026 — confirm the exact variant against the datasheet issued with your order.
When this is the right choice
- Four published torque tiers. You can size on 133 N·m average load rather than arguing about what a peak figure means.
- A documented force-control version. ±0.5% FS at 8 kHz with 0.1% FS resolution takes an external torque sensor off the BOM on contact axes.
- 121:1 at the same frame. 376 N·m instantaneous without a bigger envelope.
- Same family ladder as RHU and PHA, so a leg built on RHU40H and an arm built on PHU25H share one supplier, one protocol and one set of drawings.
When it is the wrong choice
- The heaviest option in the 84 N·m class. 2,354 g against 1,850 g for TCHL-25 — if mass is the binding constraint, Tongchuan wins the same torque.
- If you read -F as force control. In EYOU nomenclature -F is an output flange. The force-control version is a separate configuration, so name it explicitly in the enquiry.
- Ankle and mobile-base axes — harmonic drive, same shock-load limitation as the rest of the class.
Alternatives at a similar level
- Tongchuan TCHL-25 — 83 N·m at 1.85 kg — half a kilo lighter for the same torque
- EYOU RHU40H-130 — 248–363 N·m with a Φ22 bore for leg and waist axes
- EYOU PHU32H-142 — 169 N·m rated, 5,650 g — one frame up
- Ti5 RI80-110 — Same 84 N·m class at 2.06 kg
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
PHU25H-110 FAQ
Which of the three ratios should I specify?
All three carry the same 84 N·m rated figure; what changes is the peak. 81:1 gives 169 N·m start–stop and the highest output speed, 101:1 is the balanced default at 194 N·m, 121:1 reaches 207 N·m with the lowest output speed.
Does -F mean force control?
No. In the PHU nomenclature -F is an output flange — a mechanical option. The force-control configuration (±0.5% FS, 0.1% FS, 8 kHz) is quoted separately, so say "force-control version" in the enquiry and we quote the right part number.
Is there a brake?
From Φ52 up the brake is a documented option in the PHU series; the smallest frame is not offered with one. Tell us the axis and we confirm the exact variant for the frame you need.
How long does it take to ship?
Confirmed per order at quotation — it depends on ratio, flange and brake configuration and on what the factory has built. The quotation carries the date we are working to.
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