Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ77 × 76 mm |
| Ratios | 51:1 / 81:1 / 101:1 |
| Rated torque @2000 rpm input | 29 N·m |
| Start–stop peak | 67 N·m |
| Peak output (absolute ceiling) | 136 N·m |
| Weight, no brake | 0.93 kg |
| Weight, braked (-B) | 1.05 kg |
| Through-bore | Φ12 mm |
| Encoder | Dual 17-bit single-turn absolute |
| Supply / control | 48 V DC · EtherCAT + CAN FD |
| Torque sensor | Optional — -TH2 (sensor) and -B05-TH2 (brake + sensor) |
| Ingress protection | IP54 · IP65 with sealed connectors |
Source: 2026 Tongchuan actuator selection manual (English), pp. 48–58. Figures verified November 2026 — confirm the exact variant against the datasheet issued with your order.
When this is the right choice
- Shoulder roll and elbow pitch on a light arm. 67 N·m start–stop covers a 3–5 kg payload arm without going to a Φ99 frame.
- Humanoid forearm and heavy wrist. 0.93 kg is still light enough to sit at the end of an arm.
- Force feedback available. -TH2 at this frame is what turns a compliant-control demo into a measurable one.
- Braked version at 1.05 kg keeps a vertical axis from dropping without an external caliper.
When it is the wrong choice
- Knees and hips. 29 N·m is an order of magnitude short — that is TCHL-32 work.
- Where 20 N·m would do. TCHL-14 saves almost half a kilo.
- Impact-loaded axes. Harmonic drive; a planetary unit survives being knocked better.
Alternatives at a similar level
- TCHL-20 — 49 N·m at 1.28 kg — the next step before TCHL-25
- TCHL-14 — 6.5 N·m at 0.45 kg for wrists that do not need this
- Crabnova CE-RBV3-R68-101 — 33 N·m with brake and a 120 N·m sensor, 1.15 kg
- EYOU RHU20L-70 — 28 N·m at 100:1 in a Φ70 frame, 811 g, -F force control
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
TCHL-17 FAQ
Is 29 N·m enough for a humanoid shoulder?
For shoulder roll and yaw on a 30–50 kg platform, usually yes. For shoulder pitch lifting a heavy arm against gravity through a long lever, no — that is TCHL-25 or TCHL-32.
Can I run it on 24 V?
The range is specified at 48 V DC. Dropping to 24 V costs speed and torque headroom; if the platform is 24 V, tell us before we quote, because the drive configuration changes.
Does the torque sensor version weigh much more?
Roughly 0.1–0.2 kg over the unbraked unit. We confirm the figure on the drawing rather than from the catalogue.
How long does it take to ship?
Confirmed per order at quotation — ratio, brake and sensor configuration all move it.
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