Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ131 × 103.5 mm |
| Ratios | 81:1 / 101:1 / 121:1 |
| Rated torque @2000 rpm input | 169 N·m |
| Average load torque | 267 N·m |
| Start–stop peak | 411 N·m |
| Peak output (absolute ceiling) | 799 N·m |
| Rated output speed | 29.7 rpm at 101:1 |
| Weight, no brake | 3.30 kg |
| Weight, braked (-B) | 3.60 kg · ~3.7 kg with brake + torque sensor |
| Through-bore | Φ22 mm |
| Encoder | Dual 17-bit single-turn absolute |
| Supply / control | 48 V DC · EtherCAT + CAN FD |
| Transmission accuracy / repeatability | ≤60 arcsec / ≤10 arcsec |
| Ingress protection | IP54 · IP65 with sealed connectors |
| Operating temperature | −20 to 50 °C |
| Torque sensor | Optional — -TH2 / -B05-TH2 variants |
Source: 2026 Tongchuan actuator selection manual (English), pp. 57–58, plus the TCHL-32B test report (unit TCHL26F002526) for the braked weight. Figures verified November 2026 — confirm the exact variant against the datasheet issued with your order.
When this is the right choice
- Knee, hip pitch and waist pitch on a 60–90 kg humanoid. 169 N·m continuous with a 411 N·m start–stop window leaves a real safety factor without stepping up to a Φ170 frame.
- Brake and torque sensor in one part number. The -B05-TH2 variant puts both inside the same envelope, so nothing has to be designed around an external caliper.
- A Φ22 mm bore on a leg axis. Motor phases plus an encoder or sensor lead fit through the joint instead of looping outside it.
- Same 48 V, same EtherCAT / CAN-FD stack as TCHL-25 and TCHL-20, so a mixed build shares one bus and one power stage.
When it is the wrong choice
- Ankle pitch and roll. Harmonic flex splines dislike shock and reversing peak load — a planetary or cycloidal frame is the right answer on a walking robot’s ankle.
- Below ~120 N·m of real demand. 3.3 kg and a Φ131 envelope buy mass and volume you do not need; TCHL-25 covers 83 N·m at 1.85 kg.
- When the torque sensor must be there at first power-on. The sensor is a variant, not a default — freeze the option before the envelope is signed off, not after.
Alternatives at a similar level
- TCHL-25 — One frame down — 83 N·m rated, 1.85 kg, Φ99 × 87 mm
- EYOU PHU32H-142 — Same 169 N·m rating and 411 N·m start-stop, 5,650 g
- Crabnova CE-RB-R120-161-FBN — 300 N·m waist joint, 4.10 kg, Φ120 × 110.3 mm
- Ti5 RI110-170 — 363 N·m rated at 121:1, 6.84 kg — the next step up
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
TCHL-32 FAQ
What is the difference between the four torque figures?
They are four different measurements, not four marketing versions of one. Rated torque is the continuous figure at 2000 rpm input. Average load torque is what the joint will accept over a duty cycle. Start–stop peak is the short reversal figure you size a trajectory against. Peak output is the absolute ceiling the gearbox survives once, not a working number. We quote all four so you can size on the second one.
Do I need the brake?
On any axis that holds a load against gravity when power is removed — knee, waist pitch, hip pitch on a heavy torso. The -B variant adds about 0.3 kg inside the same envelope. It is a holding brake, not a dynamic brake.
Can I get the torque sensor version?
Yes — -TH2 adds the sensor without the brake, -B05-TH2 gives you both. Expect roughly 3.7 kg for the braked, sensed unit. Sensor range and output interface are confirmed on the datasheet issued with the quotation.
How long does the TCHL-32 take to ship?
Confirmed per order at quotation. It moves with ratio, brake and sensor configuration and with what the factory has on the shelf, so the quotation carries the date rather than this page.
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