Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ170 × 149 mm |
| Ratios | 101:1 / 121:1 |
| Rated torque @2000 rpm input | 320 N·m (both ratios) |
| Average output torque | 460 / 557 N·m |
| Start–stop peak | 702 / 762 N·m |
| Instantaneous max | 1,334 / 1,458 N·m |
| Weight | 8,520 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
- 1,458 N·m instantaneous at 121:1. The highest number in the catalogue and the only figure that survives a humanoid falling on its hip.
- Dual absolute encoder as standard. No homing routine on a waist axis that cannot be back-driven by hand.
- Same force-control option as the rest of PHU, so a waist can be torque-controlled and compliant without a separate sensor stack.
- 101:1 and 121:1 on one drawing — 62 N·m more average load at 121:1 for the same envelope.
When it is the wrong choice
- RHU40H-130 is the better part at this size. 363 N·m rated at 5,820 g in Φ130 × 136 — more torque, 2.7 kg lighter, smaller envelope. Unless you specifically need the PHU force-control build, order RHU40H-130.
- 8.5 kg is a lot to hang on a hip. Every kilogram here is a kilogram the distal actuators have to carry through the whole leg.
- Still a harmonic drive. Shock and back-driving are the known limit; for an ankle that takes landings, a planetary or a quasi-direct-drive frame is the correct answer.
Alternatives at a similar level
- EYOU RHU40H-130 — 363 N·m rated, 5,820 g, Φ22 through-bore — the better pick at this size
- Crabnova RBV3 R120-MAX — Robot-grade build with brake and torque sensor
- EYOU PHU32H-142 — 169 N·m at 5,650 g — one frame down
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
PHU40H-170 FAQ
Why would I choose PHU40H-170 over RHU40H-130?
Force control, essentially. PHU40H can be ordered with the ±0.5% FS, 8 kHz build; RHU40H cannot. If the waist has to be compliant or hand-guidable, take the heavier PHU frame. If it only has to move and hold, RHU40H-130 wins on every other number.
Is a brake available?
Yes from Φ52 up as a documented option, and at this size we would not build a waist without one. Confirm the variant at quotation — the brake changes the axial length.
How long does it take to ship?
Confirmed per order at quotation. At this frame the build is effectively made to order, so the date depends on the factory queue rather than stock; the quotation states it.
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