Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ142 × 144 mm |
| Ratios | 101:1 / 121:1 |
| Rated torque @2000 rpm input | 169 N·m (both ratios) |
| Average output torque | 267 N·m |
| Start–stop peak | 411 / 436 N·m |
| Instantaneous max | 800 / 848 N·m |
| Weight | 5,650 g |
| Encoder | Dual absolute encoder |
| Force-control version | ±0.5% FS, 0.1% FS resolution, 8 kHz sampling |
Source: EYOU (Yiyou Robot) selection manual 2026.08, pp. 3–5. Figures verified November 2026 — confirm the exact variant against the datasheet issued with your order.
When this is the right choice
- 848 N·m instantaneous at 121:1. Enough for a torso to fall on one hip without stripping the flexspline — the single most common field failure on large harmonic axes.
- Force control available. A waist that can be pushed by hand is a different product from one that cannot, and this frame offers it without an external sensor.
- 5.65 kg sits between RHU32H and RHU40H — 169 N·m where RHU32H-120 gives 124–169 and RHU40H-130 gives 248–363.
- Same 121:1 option as the top frame, so the speed–torque trade is available at 5.65 kg instead of 8.5.
When it is the wrong choice
- RHU40H-130 beats it on every number. 363 N·m rated, 5,820 g, Φ130 × 136 — more torque in a smaller, only slightly heavier envelope. Order PHU here for the force-control build, not for the torque.
- Heavier than RHU32H-120 for overlapping torque. 5,650 g against 4,080 g; RHU32H-120 covers 124–169 N·m at 1.5 kg less.
- 144 mm axial length is a real envelope cost in a waist where two joints stack.
Alternatives at a similar level
- EYOU RHU32H-120 — 124–169 N·m at 4,080 g with a through-bore
- EYOU RHU40H-130 — 248–363 N·m at 5,820 g — the stronger option at this size
- EYOU PHU40H-170 — 320 N·m at 8,520 g — the top of the range
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
PHU32H-142 FAQ
When is PHU32H-142 the right answer?
When the waist has to be torque-controlled and the load is between what RHU32H-120 and RHU40H-130 cover. If compliance is not required, RHU40H-130 is cheaper, lighter and stronger.
Does the 121:1 ratio give more torque?
It gives the same 169 N·m rated but 436 N·m start–stop against 411 and 848 N·m instantaneous against 800, at a lower output speed. Choose it when shock loading matters more than cycle time.
How long does it take to ship?
Confirmed per order at quotation. At this frame the part is effectively made to order, so the factory queue sets the date rather than stock.
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