RHU32H-120 is EYOU's humanoid harmonic joint module. Paired values are preserved as shown on the official English product page.
Specifications
| Outer diameter | 120 mm |
|---|---|
| Length | 126 mm |
| Through-hole diameter | 22 mm |
| Weight | B: 4.360 kg; N: 4.080 kg |
| Reduction ratio | 120 / 160 |
| Rated power | 216 / 221 W |
| Rated torque | 124 / 169 N·m at 2000 rpm |
| Peak torque | 270 / 459 N·m (peak start-stop) |
| Rated voltage | 24–48 V |
| Operating temperature | −20 to 60 °C |
| Encoder type | Dual absolute encoders |
| Brake | Optional power-off brake |
| Communication protocol | EtherCAT / CANopen |
Technical extensions
| Average output torque | 197 / 267 N·m |
|---|---|
| Maximum allowable momentary torque | 848 / 848 N·m |
| Operating noise | <60 dB |
| Service life | >8000 h |
| Encoder accuracy | 19 bit |
Source: https://eyoubot.com/en/products/rhu32h-120
Additional source-verified output speeds
| Rated speed | 17 / 12.5 rpm (120 / 160 reduction ratio) |
|---|---|
| Peak speed | 22 / 16.25 rpm (120 / 160 reduction ratio) |
Source: https://eyoubot.com/en/blog/wheeled-robot-joint-selection-guide