{"id":2138,"date":"2026-05-15T01:00:59","date_gmt":"2026-05-15T01:00:59","guid":{"rendered":"https:\/\/robotcncparts.com\/?p=2138"},"modified":"2026-05-15T09:50:29","modified_gmt":"2026-05-15T09:50:29","slug":"why-are-harmonic-joint-modules-the-most-popular","status":"publish","type":"post","link":"https:\/\/robotcncparts.sytech.site\/fr\/why-are-harmonic-joint-modules-the-most-popular\/","title":{"rendered":"Why are Harmonic Joint Modules the “Most Popular”?"},"content":{"rendered":"

Who Exactly is Making Harmonic Joint Modules?<\/h2>\n

At the recently concluded CES 2026 (International Consumer Electronics Show), a dazzling array of high-performance hardware, including humanoid robots and dexterous hands, was on display.<\/p>\n

While attention is focused on the smooth movements and scene adaptability of these complete devices, few people notice that the core supporting all this precise interaction is the joint execution system that integrates precision transmission, torque sensing, and high-efficiency drive, which is the invisible battlefield where various manufacturers compete.<\/p>\n

During the exhibition, everyone’s attention was focused on LG’s new humanoid robot CLOiD, which may have overshadowed the simultaneous launch of an actuator brand, LG Actuator AXIUM\u2122, designed specifically for service robots.<\/p>\n

Alice4, also a humanoid robot from South Korea, features a linear actuator with impressive performance parameters. According to the official specifications, the two models weigh 0.9kg and 1.1kg respectively, have dimensions of 70mm and 100mm respectively, and peak thrust of 668N and 1520N respectively.<\/p>\n

If you were to ask why all humanoid robot companies are so focused on parameters such as joint module noise, peak thrust, and torque density, then 1X, Figure AI, and Boston Dynamics, as representatives of home and industrial applications, have provided such answers.<\/p>\n

1X states, “The NEO operates at a noise level of only 22 decibels, quieter than a modern refrigerator. It utilizes 1X’s patented chord-driven actuator system, designed specifically for gentle movements around the human body.”<\/p>\n

Figure AI states, “One key reason why Figure 03 is so well-suited for commercial applications is that its actuators can operate at twice the speed and increase torque density (Nm\/kg). The most significant result of this is that Figure 03 can perform object grasping and placement operations much faster.”<\/p>\n

Boston Dynamics stated, “The Atlas weighs 89 kg, has 28 joints, and achieves a torque density of 220 Nm\/kg and a foot positioning accuracy of less than 10 cm. These specifications translate theoretical capabilities into practical industrial applications.”<\/p>\n

In these specific case studies, the choice of technology for the joint modules often depends on the actual application scenario. In terms of performance, the joint modules set the upper limit at the hardware level for what a humanoid robot<\/a> can do and how well it can do it.<\/p>\n

New Harmonic Joint Module Products in 2025<\/h2>\n

\"New<\/p>\n

In China, planetary joint modules and harmonic joint modules are the most common technical approaches.<\/p>\n

According to incomplete statistics from Gaogong Humanoid Robot, in 2025, a total of 11 new harmonic joint modules, 12 new planetary joint modules, 4 new cycloidal joint modules, and 3 new linear joint modules were launched in China.<\/p>\n

According to incomplete statistics from the Gaogong Robotics Industry<\/a> Research Institute (GGII), the combination of harmonic joint modules and planetary joint modules is quite common in humanoid robots.<\/p>\n

\"New<\/p>\n

The harmonic joint module, as the final piece in this new product review series, stems from a discovery:<\/p>\n

Just as companies like Tongchuan Precision, Guohua Intelligent, Inks, and Yiyou Technology are component suppliers for humanoid robot products from companies like Zhiyuan, Beijing Humanoid Robot Innovation Center, Xiaomi, and XPeng, in 2025, most of the new products launched by these core component companies with targeted supply relationships to humanoid robot products will be harmonic joint modules.<\/p>\n

Given the parallel development of planetary and harmonic joint modules, why this imbalance? Is it because upstream component suppliers sensed a shift in hardware technology? Or are there new demands for the actual implementation?<\/p>\n

In this round of reviews, Gaogong Humanoid Robot will first give a brief introduction to the parameters and performance of this series of new products. The following new product information may be incomplete and is listed in no particular order.<\/p>\n

Leisai Robotics<\/h3>\n

In early December, Leadshine Robotics officially released its new lightweight HJ2 harmonic joint module. The new product further improves upon its lightweight structure, high torque density, and system efficiency, making it suitable for critical load joints in humanoid robots, such as the shoulder, elbow, hip, and knee. Combined with a collaborative design of frameless motors, drivers, and encoders, the HJ2 boasts superior system adaptability.<\/p>\n

According to reports, the HJ2 harmonic joint module breaks through cost barriers, reducing the price by 30%. It achieves a 65% weight reduction through innovative materials, while doubling the power density and reducing the volume by 20%. At the same time, thanks to the excellent thermal conductivity of aluminum alloy, its heat generation is 25% lower than that of other modules on the market.<\/p>\n

Founded in 2024, Leadshine Robotics is located in Jiangqiao, Jiading District, Shanghai. The company focuses on core robot components such as frameless torque motors, drives, and encoders, as well as planetary and harmonic joint module solutions. Its parent company, Leadshine Intelligent, founded in 1997, has been deeply involved in the motion control field for 26 years and has become a globally renowned enterprise in the field of intelligent equipment motion control.<\/p>\n

Tongchuan Precision<\/h3>\n

\"Tongchuan<\/p>\n

In September 2025, Tongchuan Precision released its newly developed Harmocore series of lightweight harmonic reducer joints, covering six models including TCHL-11M, TCHL-14M, TCHL-17H, TCHL-20H, TCHL-25H, and TCHL-32H, which have three core advantages: “lightweight, force-position closed loop, and flexible installation design”.<\/p>\n

The smallest model, TCHL-11M, weighs 0.35KG and has a peak torque of 25Nm; the largest model, TCHL-32H, weighs only 3.3KG and has a peak torque of 799Nm.<\/p>\n

It is reported that XPeng’s humanoid robot Iron uses Tongchuan Precision Harmonic Reducer and mechatronics joint-related products.<\/p>\n

Tongchuan Precision was established in 2012, and its main products include harmonic reducers, robot joints, and mechatronic actuators. It also has two major product lines: collaborative robot joint modules and humanoid robot joint<\/a> modules.<\/p>\n

Guohua Intelligent<\/h3>\n

In September 2025, Guohua Intelligent launched its fully self-developed intelligent harmonic rotary joint module.<\/p>\n

According to Guohua Intelligent, the harmonic rotary joint module excels in performance and autonomy. It can achieve a high torque of +15% and an ultra-high precision of \u00b15 arcseconds in a small volume , with a 10% reduction in axial dimension, making it suitable for space-constrained scenarios. The hollow large through-hole design reserves wiring space, and combined with vibration suppression algorithms, it simplifies system design while improving operational stability.<\/p>\n

Guohua Intelligent also launched a linear joint module at the same time.<\/p>\n

This linear joint module boasts a 30% increase in power density and a peak thrust of 9800N. It highly integrates the planetary roller screw with the drive control system, simplifying the structure and improving reliability. Its lightweight design supports multiple load specifications of 3kg\/5kg\/7kg to meet diverse needs.<\/p>\n

It is understood that Guohua Intelligent is one of Xiaomi’s key suppliers of humanoid robots . In August 2025, Xiaomi Smart Manufacturing Fund invested in Guohua Intelligent, becoming its fourth largest shareholder.<\/p>\n

Founded in 2014, Guohua Intelligent initially focused on the research and development and manufacturing of harmonic reducers, starting in Beijing. In 2021, the company shifted its development focus to Qingdao, where it not only completed the construction of its first production line but also successfully commercialized harmonic reducers.<\/p>\n

Welling Motor<\/h3>\n

At the China International Industry Fair in September 2025, Welling Motor showcased its core robot components, including joint modules, to the industry for the first time.<\/p>\n

Its harmonic joint module has undergone 159 rigorous tests and meets the IEC-61800 series certification standards.<\/p>\n

The product boasts a peak torque density of 100 Nm\/kg and a peak power density of 300 W\/kg, demonstrating a significant advantage in high power density. It employs dual 24-bit encoders for full closed-loop control, achieving a positioning accuracy within 15 arcseconds, which is highly precise. Furthermore, it exhibits high performance in minimum communication cycle, automatic disturbance compensation, and automatic vibration suppression.<\/p>\n

Welling Robotics Components covers the industrial and humanoid robot fields, encompassing a full range of products including “core transmission, joint modules, servo motors, and motion control,” and is a brand under Midea Industrial Technology.<\/p>\n

Haozhi Electromechanical<\/h3>\n

At the China International Industry Fair in September 2025, Haozhi Electromechanical exhibited an integrated joint module for harmonic reducers, which integrates a high-performance frameless torque motor and has a 3.5 times overload capacity.<\/p>\n

This module is equipped with high-precision dual absolute encoders, achieving a repeatability of up to \u00b10.003\u00b0 . Combined with a high-rigidity harmonic reducer and a dual multi-turn absolute encoder structure, it enables virtual force control . Furthermore, the harmonic reducer used achieves a transmission accuracy of 25 arcseconds.<\/p>\n

It is worth noting that in July 2025, Haozhi Electromechanical released the world’s first standard system for vibration dimensions of harmonic reducers, filling a gap in the industry and achieving a dual technological breakthrough of reducing vibration peak by 60% and improving transmission accuracy by 66.7%.<\/p>\n

Haozhi Electromechanical established a wholly-owned subsidiary in November 2024 to focus on the R&D, production, and sales of core robot components, with an investment of 60 million yuan. Core components such as harmonic reducers and joint modules have been sampled and tested by some humanoid robot manufacturers and have achieved initial sales, but the scale is still small and has little impact on performance.<\/p>\n

Cancer Intelligence<\/h3>\n

In terms of joint modules, Cancer Intelligence has launched a series of modules specifically for embodied robots , with weights ranging from 0.35 to 2.5 kg, dimensions ranging from R48\u00d747.5 to R120\u00d778.5 mm, and peak torque ranging from 3.8 to 576 Nm.<\/p>\n

Among them, the R48 and R58 series are suitable for the head and wrist joints; the R68, R83, and R102 series are suitable for the shoulder, elbow, knee, and waist joints; and the R120 and R120 Max series are suitable for the hip and waist joints.<\/p>\n

Founded in 2019, Cancer Intelligence initially focused on the independent research and development and manufacturing of harmonic reducers; starting in 2021, it began to empower the manufacturing of humanoid robots and high-end equipment.<\/p>\n

Inks<\/h3>\n

\"Inks\"<\/p>\n

Inks has also launched three lightweight harmonic joint modules: EC-A3814-H14-107, EC-A5013-H17-100, and EC-A6013-H20-100.<\/p>\n

The Inks team launched these three performance-tiered products primarily to focus on humanoid robot arms, such as coffee and milk tea robots, where the weight of joint modules is a significant concern. These three products can achieve robotic arm designs ranging from 2 to 5 kg through different combinations, reducing the product weight by nearly half and meeting the needs of most robot applications for consumer-facing scenarios .<\/p>\n

In terms of application, the champions and runners-up of the 2025 Humanoid Robot Marathon, ” Tiangong Ultra” from Beijing Humanoid Innovation Center and “N2” (Little Rascal) from Songyan Power , used Inx products for all their joints.<\/p>\n

In addition, many well-known participating companies, including Accelerated Evolution, Steelbao, Lingbao, and Leju, are also important partners and customers of Inks.<\/p>\n

Founded in September 2022 and located in Jiangning District, Nanjing, Inks has formed a complete product matrix covering planetary modules and harmonic modules, covering the joint needs of different body sizes and various parts of the body.<\/p>\n

Yiyou Technology<\/h3>\n

\"Yiyou<\/p>\n

In July 2025, Eyou Technology launched three new lightweight harmonic joint modules: PHA11, PHA14, and PHA17. Compared with the conventional models, the mass power density is increased by 25%, the heat dissipation efficiency is improved by 10%, the torque fluctuation is reduced to less than 5%, and the body axis is shortened by 13mm, providing a lighter and higher-performance drive solution for humanoid robots, industrial automation, and other fields.<\/p>\n

In September of the same year, Yiyou Technology and Huaxiang Qiyuan officially signed a strategic cooperation agreement, announcing that they would carry out in-depth cooperation in the field of humanoid robot joint modules.<\/p>\n

In terms of applications, in October 2024, Eyou Technology became the designated mass production supplier for the Zhiyuan A2 series.<\/p>\n

Founded in 2018 and located in Xishan District, Wuxi, Yiyou Technology provides three major series of joint products: harmonic, planetary, and linear. These products are already in mass production and are widely used in humanoid robots, industrial automation, and other fields.<\/p>\n

Kemeng Innovation<\/h3>\n

\"Kemeng<\/p>\n

Last May, Kemeng Innovation released seven robot-related products, including reducers and joint modules, covering all joints of the robot’s upper and lower limbs.<\/p>\n

Among them, the harmonic joint module measures 115\u00d799mm, which is 40% smaller than similar solutions. It is designed for extreme working conditions with a space height of \u226435mm, precisely addressing the pain points of humanoid robot joint modules in terms of miniaturization and integration.<\/p>\n

In terms of architecture design, Kemeng Innovation has pioneered a millimeter-level coaxial integration solution for axial flux motors and harmonic reducers, completely breaking away from the traditional “motor + reducer” separate technology route.<\/p>\n

The ultra-thin joint module uses a flat axial flux motor with a thickness of less than 12mm, combined with a PEEK-metal composite shell design. Compared with traditional solutions, the total weight of the module is reduced by 40%, achieving a dual breakthrough in lightweighting and structural strength.<\/p>\n

Crucially, while reducing volume and weight, this joint module achieves a 50% reduction in axial dimension and a weight of only 2.5kg, while increasing power density by 3 times to 80Nm\/kg and peak torque by 20% to 200Nm.<\/p>\n

Kemeng Innovation was jointly established by Keda Li, a 2024 Hurun China 500 company, and Mengli and Mengying, Taiwanese harmonic reducer giants. Located in Shenzhen, it focuses on the research and development and mass production of core components such as high-precision harmonic reducers, joint modules, planetary, and cycloidal reducers.<\/p>\n

Tianlian Robot<\/h3>\n

In April 2025, Tianlian Robotics launched an ultra-lightweight integrated joint with a joint torque density of up to 450Nm, which has multiple patented technologies and has achieved a significant reduction in product size and weight.<\/p>\n

Compared to ordinary joint products of the same model on the market, it is 50% lighter, about 50% smaller in volume, and about 50% more torque. The main structure of the joint has an IP54 protection rating (special customized models can reach IP67), and can achieve 360-degree continuous rotation, greatly expanding the range of applications and specializing in application scenarios with an extreme pursuit of robot lightweighting.<\/p>\n

On July 30, Tianlian Robotics planned to conduct its initial public offering of shares and list on the Shanghai Stock Exchange’s Science and Technology Innovation Board. It has now entered the guidance period.<\/p>\n

Tianlian Robotics (Chuan Robotics) was founded in 2012 and listed on the National Equities Exchange and Quotations (NEEQ)<\/a> at the end of 2015. It is now an innovative layer enterprise of the NEEQ. The company focuses on the research, development, and production of humanoid robots, composite robots, collaborative robots, palletizing robots, and core robot components.<\/p>\n

Zhongda Lide<\/h3>\n

According to its official website, Zhongda Lide has eight integrated joint series products in the field of humanoid robots, with sizes ranging from 53\u00d742mm to 155\u00d774.4mm; weights ranging from 240g to 2770g, with a weight fluctuation of 20g for each model; peak torque ranging from 11.5Nm to 320Nm in 20 seconds; and rated torque ranging from 4Nm to 160Nm.<\/p>\n

Although Zhongda Lide launched a harmonic joint module last year, its cycloidal reducer was the first to be commercialized. Currently, the company has four cycloidal pinwheel precision reducers in the robotics field.<\/p>\n

In June 2025, Zhongda Lide had secured a trial production order for humanoid robots from a leading domestic automaker. The waist joints of the order all used self-developed cycloidal reducers.<\/p>\n

In terms of production capacity, Zhongda Lide upgraded its existing production line for automotive gears, which had an annual capacity of 1 million sets, to rapidly increase the monthly production capacity of cycloidal joints from 500 sets to 3,000 sets, with a stable yield rate of over 92%. This reuse of mature production capacity allows it to price joint modules 25% lower than traditional solutions, directly driving down the overall cost of humanoid robots by 5%.<\/p>\n

Founded in 1998 and located in Ningbo, Zhongda Lide leveraged its technological expertise in precision reducers to expand into the core component sector for robots. The company has successively launched products such as RV reducers and harmonic reducers, and in 2023, added a “Smart Actuator and Large RV Reducer Production Line Project,” investing 115 million yuan to actively develop the humanoid robot component field.<\/p>\n

Overall, companies like Welling Motor, Leadshine Robotics, Kemeng Innovation, and Zhongda Lide, with their backgrounds as major component manufacturers, represent established manufacturers venturing into the new humanoid market. They not only maintain the brand recognition of their parent companies but also demonstrate unique industrial advantages through large-scale production, mature and stable processes, and more competitive cost control.<\/p>\n

In other words, the joint module did not unilaterally “take off” humanoid robots. Rather, it was the broad application prospects and stringent performance requirements of humanoid robots that created the strongest demand traction, “taking off” the technological competition of the joint module, a core component.<\/p>\n

Humanoid Robots are Defining Joint Modules<\/h2>\n

\"Humanoid<\/p>\n

Harmonic joint modules are typically mounted on the arms and waist of humanoid robots.<\/p>\n

In terms of product performance, the aforementioned new harmonic joint modules all mentioned reductions in weight and volume, as well as improvements in power density, torque density, positioning accuracy, and torque. Improvements in protection level, heat dissipation efficiency, and torque fluctuation were also mentioned by some companies.<\/p>\n

The further reduction in weight and volume amplifies the advantages of the harmonic joint module in humanoid applications; the improved positioning accuracy can help humanoid robots improve their accuracy in completing specific tasks.<\/p>\n

The improvement in protection level and heat dissipation efficiency is a remedy for the fatigue and damage characteristics of the materials used in these products.<\/p>\n

It is worth noting that the harmonic joint module is gradually absorbing and integrating the advantages of the planetary joint module in certain aspects through performance optimization.<\/p>\n

Planetary joint modules have always been known for their significant flexibility, making them particularly suitable for speed-sensitive joints in robots, such as legs and fingers. They are characterized by high load-bearing capacity, strong wear resistance, and low reduction ratio.<\/p>\n

Looking at the new planetary joint modules for 2025, “weight reduction” remains a key focus, primarily achieved through the application of new lightweight materials, compact structural design, and improved space utilization. In terms of performance, cooling and noise reduction, high thrust density, and increased peak torque are new breakthrough priorities.<\/p>\n

It can be seen that planetary joint modules are also continuously catching up with and approaching the advantageous areas of harmonic joint modules in the process of technological evolution.<\/p>\n

This is good news. From the technological competition and cooperation of the joint module, the “hidden protagonist,” we can see that all the new products are not the result of a single hardware breakthrough, but a systematic project driven by the needs of the whole machine and the collaborative evolution of upstream and downstream. They learn from each other and integrate with each other in the competition, and are jointly pushing up the performance limit of motion execution components.<\/p>\n

At the same time, the strong entry of traditional component manufacturers<\/a> with large-scale manufacturing and cost control capabilities not only provides the industry with a robust supply chain but also indicates that humanoid robots have the opportunity to accelerate their large-scale deployment.<\/p>\n

In the future, as joint modules continue to make breakthroughs in precision, load, and energy consumption, the mobility and applicable scenarios of humanoid robots will surely be expanded more profoundly. And the foundation of all this lies deep within these ever-turning “joints”.<\/p>\n

Rather than demanding that robot manufacturers define what kind of joint modules core component manufacturers should produce, the former hopes that the latter can proactively launch products that truly break through current performance boundaries and raise the upper limit of humanoid robot capabilities.<\/p>\n","protected":false},"excerpt":{"rendered":"

Who Exactly is Making Harmonic Joint Modules? At the recently concluded CES 2026 (International Consumer Electronics Show), a dazzling array of high-performance hardware, including humanoid robots and dexterous hands, was on display. While attention is focused on the smooth movements and scene adaptability of these complete devices, few people notice that the core supporting all […]<\/p>\n","protected":false},"author":8,"featured_media":2157,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[12],"tags":[],"class_list":["post-2138","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-blog"],"acf":[],"yoast_head":"\nWhy are Harmonic Joint Modules the "Most Popular"?<\/title>\n<meta name=\"description\" content=\"Humanoid robot joint modules are evolving fast, as harmonic drive makers push torque density, precision, lightweight design, and cost efficiency.\" \/>\n<meta name=\"robots\" content=\"noindex, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" 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Liu","image":{"@type":"ImageObject","inLanguage":"en-US","@id":"https:\/\/robotcncparts.sytech.site\/wp-content\/uploads\/2026\/01\/Peter_Liu-96x96.jpg","url":"https:\/\/robotcncparts.sytech.site\/wp-content\/uploads\/2026\/01\/Peter_Liu-96x96.jpg","contentUrl":"https:\/\/robotcncparts.sytech.site\/wp-content\/uploads\/2026\/01\/Peter_Liu-96x96.jpg","caption":"Peter Liu"},"description":"Peter leads the engineering team, bridging the gap between prototyping and mass production. He specializes in optimizing DFM (Design for Manufacturability) for complex robotic components like arm housings and actuators. Outside work, he enjoys cycling and restoring vintage motorcycles."}]}},"_links":{"self":[{"href":"https:\/\/robotcncparts.sytech.site\/fr\/wp-json\/wp\/v2\/posts\/2138","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/robotcncparts.sytech.site\/fr\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/robotcncparts.sytech.site\/fr\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/robotcncparts.sytech.site\/fr\/wp-json\/wp\/v2\/users\/8"}],"replies":[{"embeddable":true,"href":"https:\/\/robotcncparts.sytech.site\/fr\/wp-json\/wp\/v2\/comments?post=2138"}],"version-history":[{"count":5,"href":"https:\/\/robotcncparts.sytech.site\/fr\/wp-json\/wp\/v2\/posts\/2138\/revisions"}],"predecessor-version":[{"id":2171,"href":"https:\/\/robotcncparts.sytech.site\/fr\/wp-json\/wp\/v2\/posts\/2138\/revisions\/2171"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robotcncparts.sytech.site\/fr\/wp-json\/wp\/v2\/media\/2157"}],"wp:attachment":[{"href":"https:\/\/robotcncparts.sytech.site\/fr\/wp-json\/wp\/v2\/media?parent=2138"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robotcncparts.sytech.site\/fr\/wp-json\/wp\/v2\/categories?post=2138"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robotcncparts.sytech.site\/fr\/wp-json\/wp\/v2\/tags?post=2138"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}