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Categories Harmonic Drive Rotary Actuator
Length: 55.3mm
Voltage: 24-48VDC
Brand Name: SENINTER
Protocol: EtherCAT / CAN
OD: 40mm
Model Number: SYT-RI30-40
Weight: 0.18kg
Certification: CE ROHS
Max. Torque: 4.8N·m
Place of Origin: CHINA
Max. Speed: 90RPM
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SYT-RI30-40

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.

Drawing without brake







without brake Parameter Table


ParameterUnitRatio 51Ratio 101
Gear Ratio-51101
Peak TorqueN·m3.34.8
Max Allowable Torque At Average Load (Robot Application)N·m2.33.3
Rated Torque @ 2000RPM (Industrial Application)N·m1.82.4
Peak Output SpeedRPM11859
Rated Speed (With 1/2 Rated Torque)RPM9045
Gear Backlasharcsec4040
Rated PowerW3636
Supply VoltageV24–4824–48
Max Continuous CurrentA22
Rated CurrentA11
Torque ConstantN·m/A0.0240.024
Encoder Resolutionbit1616
Communication Bus-CANCAN
Hollow Shaftmm66
Lengthmm60±0.560±0.5
Masskg0.190.19
Inertiag·cm²27.427.4



Drawing with brake




With brake Parameter Table


ParameterUnitRatio 51Ratio 101
Gear Ratio-51101
Peak TorqueN·m3.34.8
Max Allowable Torque At Average Load (Robot Application)N·m2.33.3
Rated Torque @ 2000RPM (Industrial Application)N·m1.82.4
Peak Output SpeedRPM11859
Rated Speed (With 1/2 Rated Torque)RPM9045
Gear Backlasharcsec4040
Rated PowerW3636
Supply VoltageV24–4824–48
Max Continuous CurrentA22
Rated CurrentA11
Torque ConstantN·m/A0.0240.024
Encoder Resolutionbit1616
Communication Bus-CANCAN
Hollow Shaft Diametermm66
Total Lengthmm78.6±0.578.6±0.5
Masskg0.270.27
Rotational Inertiag·cm²45.145.1


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