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SYT-RI-110-170

Humanoid Robot Joint Module (Rotary Actuator) Structure – Core Components

Output Flange / Connector – Connects to robot links (e.g., lower leg, forearm), outputs torque and motion.

Torque Sensor (optional but common in high-performance designs) – Ring or spoke type, used for force control / collision detection.

Harmonic Drive – Consists of a wave generator, flexspline, and circular spline; mounted on the motor output shaft.

Frameless Torque Motor – Stator fixed to the housing, rotor connected to the wave generator.

Brake (Safety Holding Brake) – Locks the joint position when power is lost.

Dual Encoders – Motor-side encoder (measures speed/position) and output-side encoder (eliminates reducer backlash error); commonly used for full closed-loop control.

Driver (Servo Drive Board) – Integrated inside the module or in a compact package.

Housing / Cooling Structure – Aluminum alloy body with cable channels.

Customization Services:Waterproof and anti-corrosion customization available for deep-sea operation, with an IP68 protection rating.

Drawing without brake

without brake Parameter Table

Parameter	Unit	Ratio 51	Ratio 81	Ratio 101	Ratio 121	Ratio 161
Gear Ratio	-	51	81	101	121	161
Peak Torque	N·m	267	376	411	436	459
Max Allowable Torque At Average Load (Robot Application)	N·m	133	206	267	267	267
Rated Torque @ 2000RPM (Industrial Application)	N·m	94	146	169	169	169
Peak Output Speed	RPM	55	37	29	24	18
Rated Speed (With 1/2 Rated Torque)	RPM	44	29	22	18	12
Gear Backlash	arcsec	20	20	10	10	10
Rated Power	W	1000	1000	1000	1000	1000
Supply Voltage	V	24–48	24–48	24–48	24–48	24–48
Max Continuous Current	A	16.9	16.9	16.9	16.9	16.9
Rated Current	A	15.8	15.8	15.8	15.8	15.8
Torque Constant	N·m/A	0.175	0.175	0.175	0.175	0.175
Encoder Resolution	bit	16	16	16	16	16
Communication Bus	-	CAN	CAN	CAN	CAN	CAN
Hollow Shaft Diameter	mm	32	32	32	32	32
Total Length	mm	121.5±0.5	121.5±0.5	121.5±0.5	121.5±0.5	121.5±0.5
Mass	kg	4.38	4.38	4.38	4.38	4.38
Rotational Inertia	g·cm²	4744.7	4744.7	4744.7	4744.7	4744.7

Drawing with brake

With brake Parameter Table

Parameter	Unit	Ratio 51	Ratio 81	Ratio 101	Ratio 121	Ratio 161
Gear Ratio	-	51	81	101	121	161
Peak Torque	N·m	497	641	702	762	800
Max Allowable Torque At Average Load (Robot Application)	N·m	242	351	460	557	557
Rated Torque @ 2000RPM (Industrial Application)	N·m	169	255	328	363	363
Peak Output Speed	RPM	33	21	16	14	10
Rated Speed (With 1/2 Rated Torque)	RPM	22	15	12	10	7
Gear Backlash	arcsec	20	20	10	10	10
Rated Power	W	1500	1500	1500	1500	1500
Supply Voltage	V	24–48	24–48	24–48	24–48	24–48
Max Continuous Current	A	30.2	30.2	30.2	30.2	30.2
Rated Current	A	14.1	14.1	14.1	14.1	14.1
Torque Constant	N·m/A	0.293	0.293	0.293	0.293	0.293
Encoder Resolution	bit	16	16	16	16	16
Communication Bus	-	CAN	CAN	CAN	CAN	CAN
Hollow Shaft Diameter	mm	40	40	40	40	40
Total Length	mm	121.7±0.5	121.7±0.5	121.7±0.5	121.7±0.5	121.7±0.5
Mass	kg	6.84	6.84	6.84	6.84	6.84
Rotational Inertia	g·cm²	8333.3	8333.3	8333.3	8333.3	8333.3

SYT-RI-110-170

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Categories	Harmonic Drive Rotary Actuator
Protocol:	CAN/EtherCAT
Brand Name:	SENINTER
OD:	170mm
Model Number:	SYT-RI-100-142
Length:	121.7mm
Voltage:	24-48VDC
Weight:	6.84kg
Certification:	CE ROHS
Max. Torque:	800N·m
Place of Origin:	CHINA
Max. Speed:	33RPM