quality Harmonic Drive & RV Reducer factory

In a vast array of high-performance machinery, from industrial robots to advanced automation, achieving exact movements, high torque, and precise positioning is paramount. This capability relies heavily on Precision Gear Reducers. This category encompasses specialized gearboxes like Harmonic Drive, RV Reducer, and Planetary Reducer. But what makes these precision gear reducers so essential for enabling cutting-edge motion control? Precision Gear Reducers are highly engineered mechanical devices designed to significantly reduce the speed of a motor while simultaneously increasing its torque output, all while maintaining exceptionally high accuracy and rigidity. Unlike standard industrial gearboxes, they are manufactured to extremely tight tolerances, featuring minimal backlash and high torsional stiffness. Why are Precision Gear Reducers essential for high-performance motion control?   Zero or Ultra-Low Backlash: This is perhaps their most critical feature. Minimal play between gears ensures precise positioning, eliminates positional errors, and allows for highly accurate and repeatable movements, vital for robotics and machine tools.   High Torque-to-Size Ratio: They enable compact motors to generate substantial torque, allowing for powerful yet space-efficient designs in robot joints or compact machinery.   Exceptional Positional Accuracy & Repeatability: Their precision construction ensures that the output shaft accurately reflects the input motion, crucial for tasks requiring fine control.   High Rigidity & Torsional Stiffness: They resist deflection under load, maintaining accuracy and stability even during dynamic movements or when handling heavy loads.   Smooth and Quiet Operation: The precise meshing of gears minimizes vibration and noise, contributing to overall machine performance and lifespan.   Durability and Long Lifespan: Designed for continuous operation in demanding environments, their robust construction ensures reliability and reduces maintenance needs.   Precision Gear Reducers are the silent workhorses behind advanced automation. Their ability to deliver high torque with unparalleled accuracy and rigidity makes them indispensable for enabling the precise and reliable motion control required by modern robotics and industrial machinery.

In any machinery that involves rotational motion, the quality and type of bearings used are fundamental to its performance. Among these, the Precision Bearing stands out as a critical component. But what exactly defines a precision bearing, and how does its superior design directly contribute to enhancing machine accuracy, reducing friction, and extending the overall longevity of industrial equipment? A Precision Bearing is a rolling-element bearing manufactured to extremely tight tolerances, higher than those for standard industrial bearings. This meticulous manufacturing process results in components with exceptionally low runout, minimal friction, high stiffness, and superior rotational accuracy. They are often made from high-quality steels or ceramics, with carefully controlled surface finishes and precise geometric conformity. How does a Precision Bearing contribute to machine accuracy and longevity?   Enhanced Rotational Accuracy: With minimal runout and tight tolerances, precision bearings ensure that rotating shafts or components maintain their exact intended position, vital for applications like machine tools, robotics (e.g., in a Robot Joint Motor), and metrology equipment.   Reduced Friction and Heat Generation: Precision manufacturing leads to smoother rolling and less internal friction, resulting in lower operating temperatures and improved energy efficiency.   Increased Stiffness and Rigidity: They provide greater resistance to deflection under load, maintaining the structural integrity of the rotating system and ensuring consistent performance.   Longer Service Life: The high quality of materials, precision manufacturing, and reduced friction extend the bearing's operational lifespan, reducing maintenance and replacement costs.   Minimized Vibration and Noise: Accurate rotation and low friction lead to smoother, quieter operation, improving overall machine performance and operator comfort.   Enabling High-Speed Operation: Their precise design allows for higher rotational speeds without excessive heat buildup or loss of accuracy.   The Precision Bearing is a foundational element in any high-performance machinery. Its superior manufacturing and inherent qualities are indispensable for achieving the highest levels of accuracy, efficiency, and durability in demanding industrial applications.

In automated assembly and inspection processes, components often need to be precisely rotated to specific angles for subsequent operations. This critical indexing task is efficiently handled by a Hollow Rotary Table. But what defines a hollow rotary table, and why is its unique design ideal for precise, high-speed automated indexing? A Hollow Rotary Table is a type of precision indexing drive that provides controlled rotational motion with a significant hollow aperture through its center. It typically integrates a precision gearbox (often a Planetary Reducer or cycloidal mechanism) and a robust bearing, driven by a servo motor. The hollow shaft is its key distinguishing feature, allowing cables, pneumatic lines, or even other robotic tools to pass directly through the center of rotation. Why is a Hollow Rotary Table ideal for automated indexing?   Central Cable Management: The hollow bore allows for easy routing of cables, hoses, and wiring, preventing tangles and simplifying machine design, especially for complex automation cells.   High Precision and Accuracy: Designed for accurate angular positioning and repeatability, crucial for precise assembly, inspection, and machining operations.   High Load Capacity: Built with robust bearings to handle significant axial, radial, and moment loads, making them suitable for supporting heavy fixtures and workpieces.   Rigidity and Stability: Provides excellent torsional rigidity, ensuring stable and vibration-free indexing even under dynamic loads.   Direct Drive Benefits (often): Many designs offer a large output bearing and high stiffness, approaching the benefits of direct drive motors without their cost, while being driven by a standard servo motor.   Simplified Machine Integration: Its compact, self-contained design simplifies machine building and reduces overall footprint compared to traditional rotary tables with external wiring.   Fast Indexing Speeds: Capable of rapid acceleration and deceleration for quick cycle times in automated production lines.   The Hollow Rotary Table is a versatile and precise motion control component, specifically engineered to streamline automated indexing. Its unique hollow bore and robust design make it an indispensable solution for efficient and clean machine layouts in modern factories.

In automation, robots and machines often need to grasp, hold, and manipulate objects with varying sizes, shapes, and fragilities. This precise task is expertly handled by an Electric Gripper. But what distinguishes an electric gripper from other types, and how does it significantly enhance automation flexibility and precision in manufacturing and assembly? An Electric Gripper is a robotic end effector that uses an electric motor (often a servo or stepper motor) to precisely control the opening and closing of its "fingers" or jaws. Unlike pneumatic grippers, which operate with compressed air and typically offer only open/close states, electric grippers provide fine control over gripping force, speed, and jaw position. This enables them to handle a much wider variety of parts with greater finesse. How does an Electric Gripper enhance automation flexibility and precision?   Precise Force Control: The ability to adjust gripping force digitally prevents damage to delicate parts while ensuring a secure grip on heavier items.   Flexible Jaw Positioning: Allows for variable opening and closing distances, enabling one gripper to handle parts of different sizes without manual adjustments or tool changes.   High Precision and Repeatability: Digital control and feedback systems ensure highly accurate and repeatable gripping actions, vital for assembly tasks.   Energy Efficiency: They only consume power when moving or holding an object, making them more energy-efficient than pneumatic grippers that constantly use air.   Clean Operation: No compressed air lines means no exhaust, making them ideal for cleanroom environments.   Integrated Feedback: Many electric grippers provide feedback on grip force, position, and part detection, enhancing process control and error handling.   Simplified Integration: Often easier to integrate with robotic systems due to digital communication and lack of pneumatic lines.   The Electric Gripper is a sophisticated tool that brings unparalleled flexibility, precision, and intelligence to robotic automation. Its ability to finely control gripping parameters makes it essential for demanding assembly, material handling, and inspection tasks.

In a vast array of industrial machinery, from packaging lines to material handling systems, efficient and reliable gear reduction is essential. The Planetary Reducer stands out as a highly versatile and effective solution for this purpose. But what defines a planetary reducer, and why is it such a popular choice for achieving precise and powerful gear reduction in diverse industrial applications? A Planetary Reducer (also known as a planetary gearbox or epicyclic gearbox) is a gear reduction system characterized by its concentric arrangement of gears. It consists of a central "sun" gear, multiple "planet" gears orbiting around the sun gear and meshing with it, and an outer "ring" gear with internal teeth that the planet gears also mesh with. The input shaft typically drives the sun gear, and the output shaft is connected to the planet carrier. Why is a Planetary Reducer a versatile choice for industrial gear reduction?   High Torque Density: Its design allows for multiple points of contact for power transmission, enabling very high torque output in a relatively compact size.   Compact and Coaxial Design: The concentric arrangement results in a gearbox that is compact and has input and output shafts aligned, simplifying machine design.   High Efficiency: Multiple planetary gears distribute the load, leading to high mechanical efficiency and reduced wear compared to other gearbox types.   Excellent Rigidity and Precision: With minimal backlash, planetary reducers offer good positional accuracy and high torsional stiffness, crucial for many automation tasks.   Versatile Ratios: Different gear ratios can be achieved by varying the number of teeth or by staging multiple planetary sets, offering flexibility for various speed and torque requirements.   Durability: The load-sharing design enhances durability and lifespan, making it suitable for continuous industrial operation.   The Planetary Reducer is a cornerstone of modern industrial power transmission. Its compact, efficient, and robust design makes it a highly versatile and reliable solution for a wide range of gear reduction needs in automated machinery.

The ability of a robotic arm to move with precision, speed, and strength relies entirely on its joints. At the heart of each of these joints is a specialized component: the Robot Joint Motor. But what defines a robot joint motor, and why is its unique design and integration so crucial for unlocking the full performance potential of industrial and collaborative robots? A Robot Joint Motor is an integrated module specifically designed for the articulation points of robotic arms. Unlike a general-purpose motor, it combines a high-performance electric motor (often a servo motor), a precision gear reducer (such as a Harmonic Drive or RV Reducer), and usually a high-resolution encoder, all within a compact and lightweight housing. This integration is critical for optimizing space, weight, and performance within a robot's limited joint volume. Why is a Robot Joint Motor key to robotic performance?   High Torque-to-Weight Ratio: Essential for moving heavy loads without adding excessive weight to the robot itself, preserving payload capacity.   High Precision and Repeatability: The integrated precision gearbox and encoder ensure highly accurate positioning and consistent movements, vital for complex tasks.   Low Backlash: The use of specialized reducers minimizes play, leading to smooth, predictable motion and improved control.   Compact Design: Designed to fit within the limited space of a robot joint, enabling slender and agile arm designs.   Integrated Design: Combining motor, gearbox, and encoder simplifies assembly for robot manufacturers and improves overall system rigidity.   Dynamic Response: Servo motors provide fast and precise acceleration and deceleration, allowing for rapid and efficient robot movements.   The Robot Joint Motor is the muscle and brain of a robotic arm's articulation. Its integrated, high-performance design is fundamental to achieving the precision, speed, and strength that define advanced robotic capabilities.

In modern automation, machinery often requires precise, controlled rotational movement for tasks like valve operation, clamping, or indexing. This critical function is performed by Rotary Actuators. But what exactly are rotary actuators, and how do they provide such accurate and reliable rotational motion in a wide range of automated systems? Rotary Actuators are mechanical devices that convert energy (typically pneumatic, hydraulic, or electric) into controlled rotational motion. Instead of linear movement, they produce angular displacement, allowing a component to rotate a specific number of degrees or continuously at a certain speed. They can vary from simple rack-and-pinion designs to complex electric servo-controlled units. How do Rotary Actuators provide precise rotational motion in automation?   Controlled Angle and Speed: Modern actuators, especially electric models, can be precisely controlled for exact angular positioning and rotational speed, enabling accurate indexing or synchronized movements.   Compact Design: Many rotary actuators offer high torque output in a relatively small form factor, making them suitable for space-constrained automation cells.   High Torque Output: They are designed to deliver significant torque, capable of turning heavy loads, operating valves under pressure, or performing strong clamping actions.   Repeatability: High-quality actuators offer excellent repeatability, ensuring that once programmed, they consistently return to the same position, which is vital for automated processes.   Versatility: Available in different power sources (electric for precision, pneumatic/hydraulic for force) and configurations to suit diverse industrial applications, including valve control, material handling, and assembly.   Rotary Actuators are indispensable components in automated systems, providing the precise and powerful rotational movements necessary for efficient and reliable operation across countless industrial tasks.

For heavy-duty industrial robots, machine tools, and automation equipment requiring extreme rigidity, high precision, and large torque capacity, standard gearboxes often don't meet the mark. This is precisely when an RV Reducer becomes the superior choice. But what specific features enable an RV reducer to outperform other gearboxes in these demanding applications? An RV Reducer (often standing for "Robust Vector" or "Rotary Vector" reducer) is a highly precise and robust cycloidal gear reducer. It consists of a cycloidal disc and pin gear mechanism, combined with a planetary gear stage, to achieve very high reduction ratios with minimal backlash and exceptional torsional rigidity. Its design distributes load over many teeth, making it incredibly resilient to shock loads and wear. When does an RV Reducer outperform other gearboxes for industrial robots?   High Load Capacity and Rigidity: Designed to handle significant radial and axial loads, making it perfect for the heavy lifting and precise manipulation required by large industrial robots.   Extremely Low Backlash: With near-zero backlash, it ensures highly accurate positioning and repeatability, critical for robotic welding, assembly, and machining.   Exceptional Torsional Rigidity: Its robust design provides very high stiffness, minimizing deflection under load and enhancing dynamic performance.   High Reduction Ratios: Can achieve large gear ratios in a compact footprint, allowing for powerful yet space-efficient robot joint designs.   Durability and Long Lifespan: Its unique cycloidal mechanism distributes stress over a wide area, leading to excellent wear resistance and a longer operational life, even in harsh conditions.   Smooth Operation: Provides consistent and smooth motion, crucial for fine motor control in robotic applications.   The RV Reducer is a cornerstone of heavy-duty precision automation. Its unmatched combination of load capacity, rigidity, and minimal backlash makes it the preferred solution for the most demanding robotic and motion control applications.

In the demanding world of robotics and precision motion control, conventional gearing often falls short when engineers require exceptional accuracy, compactness, and high torque. This is where the Harmonic Drive (also known as strain wave gearing) emerges as the preferred solution. But what unique characteristics make a Harmonic Drive the go-to choice for precision robotics and other critical applications? A Harmonic Drive is a sophisticated gear reduction system known for its almost zero backlash, high reduction ratios in a compact form, and excellent positional accuracy. It operates using three main components: a circular spline, a flexspline (a thin, flexible metal cup with external teeth), and a wave generator (an elliptical bearing assembly). The wave generator deforms the flexspline, causing its teeth to engage with the circular spline at two points, creating a unique meshing action that results in high reduction ratios and precise motion. What makes a Harmonic Drive the go-to for precision robotics?   Zero Backlash: This is paramount for robotic arms and precision instruments, ensuring highly accurate and repeatable movements without any play in the gearing.   High Reduction Ratios in a Compact Size: It can achieve very high gear ratios (e.g., 50:1 to 320:1) in a significantly smaller and lighter package than traditional gearboxes, crucial for space-constrained robot joints.   High Torque Capacity: Despite its compact size, a Harmonic Drive can transmit substantial torque, making it ideal for robot arms lifting heavy loads or performing demanding tasks.   Excellent Positional Accuracy: The unique tooth meshing provides superior accuracy, vital for applications requiring precise positioning.   Smooth Operation: The simultaneous meshing of multiple teeth ensures smooth, quiet, and vibration-free motion.   In essence, the Harmonic Drive is an engineering marvel that empowers robots and precision machinery with the accuracy, power, and compactness necessary for advanced automation and demanding tasks.

www.honpine.com Robotic joint modules are critical components in humanoid robots, directly impacting performance, reliability, and longevity. However, selecting the right module involves navigating technical complexities while avoiding common pitfalls. Below, we outline key challenges in joint module selection and how HONPINE’s solutions address these demands with superior engineering and customization.         Common Mistakes in Selecting Humanoid Robot Joint Modules   1. Neglecting Load Capacity and Torque Requirements Underestimating torque and load requirements is a leading cause of joint failure. For instance, joints in industrial robots handling heavy materials must endure continuous high loads. Statistics indicate that over 30% of joint failures stem from insufficient torque capacity. Properly assessing dynamic and static loads ensures the selected module meets operational demands without premature wear.   2. Overemphasizing Precision Without Cost Efficiency While high-precision modules (e.g., ±0.1° accuracy) are essential for tasks like surgical robotics, they are unnecessary for applications like home service robots, where ±0.5°–±1° suffices. Over-specifying precision increases costs and maintenance complexity, as high-precision components are more prone to wear. Balancing accuracy with practicality optimizes cost-efficiency.   3. Ignoring Environmental Adaptability Environmental factors—temperature, humidity, dust—account for 25% of field failures. High temperatures degrade electronics and lubricants, while humidity accelerates corrosion. Selecting modules with appropriate IP ratings (e.g., IP54 for dust resistance) and material coatings ensures reliability in harsh conditions.   4. Overlooking Modularity and Maintenance Non-modular designs complicate repairs, increasing downtime. Modular joint modules reduce repair time by 60% compared to integrated designs, streamlining maintenance and improving operational efficiency.     HONPINE’s Joint Module Advantages   1. Compact and Lightweight Design Our modules reduce weight by one-third while maintaining structural integrity, lowering energy consumption and improving robot agility.   2. High Torque Density With torque density twice that of comparable products, HONPINE modules deliver exceptional power efficiency, enabling compact designs without sacrificing performance.   3. Robust Performance Built to industrial standards, our modules feature automotive-grade components with anti-static and anti-vibration properties, ensuring reliability in demanding applications.   4. Modular Architecture Our system integrates six modular components across three product series, simplifying customization, production, and maintenance while adapting to diverse scenarios.     Why Choose HONPINE?   1. Dedicated Technical Support As an integrated R&D, production, and sales manufacturer, we provide end-to-end support—from selection to installation—with dedicated project teams. Our expertise accelerates R&D cycles, particularly crucial in the emerging humanoid robot sector.   2. Exceptional Cost Performance Located in Suzhou, China—a global industrial supply chain hub—we offer the most cost-effective integrated solutions. Many clients initially seek individual components (e.g., harmonic reducers) but ultimately choose our complete joint modules for superior value.   3. Customization Expertise With experience in elderly care robots, construction robots, medical robotics, and more, we deliver tailored solutions that balance performance, durability, and cost.     Selecting the right joint module requires a holistic evaluation of torque, precision, environmental resilience, and modularity. HONPINE’s advanced planetary and harmonic joint modules address these challenges through innovative design, robust engineering, and customization. Partner with us to enhance your humanoid robot’s performance and reliability while optimizing costs.   Contact HONPINE today to discuss your project requirements.

In the field of humanoid robotics, the joint module is a key technology that determines flexibility, stability, and intelligent interaction capabilities. An advanced joint system must not only achieve high-precision motion control but also balance efficiency, lightweight design, and durability to support autonomous operations in complex environments. We integrate high-torque servo motors, precision sensors, and intelligent control algorithms to ensure smooth and natural human-like movements, enabling precise grasping, dynamic balance, and autonomous learning. By optimizing bionic structures and leveraging AI-driven motion planning, our joint modules significantly enhance energy efficiency and response speed, expanding humanoid robots' applications in industries such as manufacturing, healthcare, and services. In the future, we will continue to push the boundaries of technology, making humanoid robots smarter and more efficient, empowering every aspect of an intelligent society.

  Our rotary actuator integrates the harmonic drive, frameless torque motor and the encoder. The smallest is from model 11. Provide hollow shaft and solid type, side outlet and end outlet. Widely used in Articulated robot, Humanoid robot, Medical equipment, Photovoltaic devices, New energy vehicle, 3C Automation, Semiconductor equipmen, CNC machine tools, Pringting and packaging devices, Laser Equipment and so on. Producing line:   

The HPJM series is a DC servo drive system that provides high torque and precise rotational movement. It integrates precision control gear reducers (harmonic gear reducers) from sizes 05 to 40 with flat DC servo motors from sizes 30 to 132, forming a robot-integrated joint motor (also known as a joint module). The matching reducers are available in two types: harmonic gear series and planetary gear series.   Key Features: Compact Design: The outer diameter has been reduced, and the maximum torque-to-volume ratio has been increased to approximately twice that of conventional products. The hollow structure maintains the same dimensions as previous models, with a through-hole at the center of the drive unit allowing for wiring, piping, or laser passes, providing energy or transmitting signals to moving mechanical parts or devices. Increased Torque and Precision: With a hollow through-hole design, the torque is approximately 30% higher, offering greater precision, stiffness, and quieter operation. Ideal for Advanced Applications: This system is suitable for humanoid robots, exoskeletons, collaborative robots, and other high-end application scenarios. Enhanced Torque-to-Volume Ratio: The series integrates high-torque precision control reducers (harmonic gear series or KH planetary gear series), reducing the outer diameter by approximately 20% compared to previous products, while increasing the maximum torque-to-volume ratio to around twice that of previous models. Large and Diverse Product Range: The harmonic PRO series includes 22 models, with high-torque variants up to 1450 N·m, as well as 11 models in the harmonic hollow-through-hole series. Gear ratios available include 1/51, 1/81, 1/101, 1/121, and 1/161, providing a rich variety of models. Modular Design: The HPJM series uses a basic modular design that combines reducers, output bearings, motors, brakes, encoders, and other components. Custom models can also be provided upon customer request; please consult the sales department for more details. Standard 17-bit Magnetic Absolute Position Encoder: The newly developed DC servo motor is equipped with an in-house designed, highly reliable, safety-functional 17-bit magnetic absolute position (absolute value) encoder. Using serial communication saves on wiring, and, in addition to the essential rotational count functionality required for devices with reducers, the encoder can retain the absolute position even when the cable is briefly disconnected. Fault Safety: The encoder compares the angle of two systems continuously, and built-in fault detection provides safety protection by outputting any sudden faults to the upper-level system, aiding in the construction of a safety system. Support for High Speed: When used in combination with the hollow planetary gear reducer KH series, it can also support higher speeds. ​ Our robot joint motors are suitable for humanoid robots, exoskeletons, collaborative robots, automobiles, AGVs and other application scenarios. Robustness & High-cycle Life High Torque Density, Low Cogging Torque Waterproof, Dustproof, Explosion-proof Low Noise & High Precision Hollow Shaft  

Joints have always been the foundation of a robot's mobility and flexibility. Integrated servo joint modules, often regarded as the "heart" of a robot's power system and motion capabilities, play a crucial role in the robotics field. With the rapid development of the humanoid robot industry, humanoid robots developed by leading companies worldwide are advancing toward greater intelligence. As a product of emerging technology, especially for humanoid robots, integrated joint modules are undergoing a transformation from scratch in areas such as structural design, materials, and customized development. This puts domestic and international players on the same starting line, creating vast market potential and unprecedented opportunities for domestic joint manufacturers. As a leading company in the joint module industry, our core advantage lies in providing highly cost-effective joint products through our exceptional quality in core robotic components and robust R&D capabilities. This is further supported by our strengths in production capacity, technology, and service. Our joint modules feature three key characteristics: ultra-thin design, lightweight leadership, and robust stability. They are tailored to meet most of the requirements for humanoid robots, addressing the primary prerequisites for their development and driving the multi-scenario application of general-purpose robots. Series-Model Gear Ratio Rated Torque At 2000RPM (N.m) Max Allowable Torque At Average Load (N.m) Impact Torque (N.m) Peak Speed (RPM) Rated Speed (With 1/2 Rated Torque) (RPM) PRO Series HPJM-RE30-40-PRO-XX 51/101 1.8/2.8 2.3/3.3 3.3/4.8 118/59 90/45 HPJM-RE40-52-PRO-XX 51/101 4/6.5 5.5/8.9 8.3/11 118/59 80/40 HPJM-RE50-60-PRO-XX 51/81/101 6.6/9.6/9.6 8.6/13.5/13.5 23/29/34 97/61/49 75/46/37 HPJM-RE50-70-PRO-XX 51/81/101 6.6/9.6/9.6 8.6/13.5/13.5 23/29/34 97/61/49 75/46/37 HPJM-RE60-70-PRO-XX 51/81/101/121 19.8/27.5/30/30 32/33/49/49 42/53/66/66 82/51/41/32 68/43/34/24 HPJM-RE60-80-PRO-XX 51/81/101/121 19.8/27.8/30/30 32/33/499/49 42/53/66/66 82/51/41/32 68/43/34/24 HPJM-RE70-80-PRO-XX 51/81/101/121 32/42/50/50 42/58/61/61 63/91/102/108 77/48/40/30 61/38/30/25 HPJM-RE70-90-PRO-XX 51/81/101/121 32/42/50/50 42/58/61/61 63/91/102/108 77/48/40/30 61/38/30/25 HPJM-RE80-97-PRO-XX 51/81/101/121/161 48/78/84/84/84 68.8/107/133/133/133 121/169/194/207/217 65/43/36/30/22 54/35/27/23/17 HPJM-RE80-110-PRO-XX 51/81/101/121/161 48/78/84/84/84 68.8/107/133/133/133 121/169/194/207/217 65/43/36/30/22 54/35/27/23/17 HPJM-RE100-120-PRO-XX 51/81/101/121/161 94/146/169/169/168 120/185/267/267/267 267/376/411/436/459 55/37/29/24/18 44/29/22/18/12 HPJM-RE100-142-PRO-XX 51/81/101/121/161 94/146/169/169/168 120/185/267/267/267 267/376/411/436/459 55/37/29/24/18 44/29/22/18/12 HPJM-RE110-145-PRO-XX 51/121/161 1699/363/363 255/586/586 532/802/841 34/14/10 22/12/7 HPJM-RE110-170-PRO-XX 51/121/161 1699/363/363 255/586/586 532/802/841 34/14/10 22/12/7 Parameters for reference only; actual dimensions are subject to the drawing. The PRO series features a hollow design and supports customization for brakes, EtherCAT, CANopen, and low-temperature operation down to -40°C. Series-Model Rated Power (W) Supply Voltage (V) Max Continuous Current (A) Rated Current (A) Encoder Resclution (bit) Torque Constant (N.m/A) Gear Backlash (arcsec) Communication Bus Hollow Shaft (mm) Mass (kg) Inertia (g * cm) PRO Series HPJM-RE30-40-PRO-XX 36 24-48 2 1 17 0.024 40/40 CAN/EtherCAT 5 0.18 24 HPJM-RE40-52-PRO-XX 90 24-48 3 2 17 0.05 40/30 CAN/EtherCAT 12 0.3 82 HPJM-RE50-60-PRO-XX 150 24-48 5 3.6 17 0.089 20/20/10 CAN/EtherCAT 12 0.42 112 HPJM-RE50-70-PRO-XX 150 24-48 5 3.6 17 0.089 20/20/10 CAN/EtherCAT 12 0.42 124 HPJM-RE60-70-PRO-XX 300 24-48 6.7 5 17 0.096 20/20/10/10 CAN/EtherCAT 18 0.69 382 HPJM-RE60-80-PRO-XX 300 24-48 6.7 5 17 0.096 20/20/10/10 CAN/EtherCAT 15 1.01 441 HPJM-RE70-80-PRO-XX 500 24-48 8.4 6.1 17 0.118 20/20/10/10 CAN/EtherCAT 15 0.95 569 HPJM-RE70-90-PRO-XX 500 24-48 8.4 6.1 17 0.118 20/20/10/10 CAN/EtherCAT 14.5 1.3 594 HPJM-RE80-97-PRO-XX 750 24-48 10.4 9 17 0.143 20/20/10/10/10 CAN/EtherCAT 27 2.0 　 HPJM-RE80-110-PRO-XX 750 24-48 10.4 9 17 0.143 20/20/10/10/10 CAN/EtherCAT 27 2.1 1255 HPJM-RE100-120-PRO-XX 1000 24-48 16.9 15.8 17 0.175 20/20/10/10/10 CAN/EtherCAT 32 3.7 　 HPJM-RE100-142-PRO-XX 1000 24-48 16.9 15.8 17 0.175 20/20/10/10/10 CAN/EtherCAT 32 3.8 3601 HPJM-RE110-145-PRO-XX 1500 24-48 30.2 14.1 17 0.293 20/20/10 CAN/EtherCAT 40 6.80 　 HPJM-RE110-170-PRO-XX 1500 24-48 30.2 14.1 17 0.293 20/20/10 CAN/EtherCAT 40 6.85 9242 Parameters for reference only; actual dimensions are subject to the drawing. The PRO series features a hollow design and supports customization for brakes, EtherCAT, CANopen, and low-temperature operation down to -40°C.  

Structure Description of our planetary gearbox          The integrated housing design places the inner gear ring inside the front housing, optimizing the connection link from a structural perspective to ensure the accuracy of the gear train during high-speed operation. The housing surface is nickel-plated to improve corrosion resistance under harsh working conditions. The integrated design of the sun gear input shaft reduces mechanical connection links, improves transmission torque performance, and ensures the overall accuracy of the reducer. The integrated frame design structure of the planet carrier and the output shaft avoids the loss of secondary connection precision, and achieves perfect coaxiality of the planet carrier by clamping and processing once, ensuring the smooth and efficient operation of the gear planetary system.            Overall structure Ours Others         Appearance Description       Ours   1. Nickel plating on the shell surface 2. Anodizing treatment 3. Laser engraving type Others   1. Electrostatic coating 2. Untreated 3. Labeling   Motor installation       The input shaft connection of our planetary gearbox adopts (collet clamp separation locking mechanism) to improve the concentricity of the joint surface and low backlash power transmission of the reducer under high-speed operation.   Sealed structure Ours: Both the input and output parts have oil leakage prevention structures          Others: No oil leakage prevention parts at the input part            Integrated motor shaft and input gear Ours For our integrated design of [planetary gearbox, it can:   1. Ensure concentricity and improve transmission accuracy: The input flange and motor mounting part adopt an integrated design.   2. Ensure concentricity and enhance torque: The motor shaft and input gear adopt an integrated design. Others               Oil guide groove and wear-resistant steel gasket Ours For our high precision planetary gearbox:    The planetary gear symmetry surface is equipped with an oil guide groove to ensure lubrication of internal components. Small inner diameter, stable torque transmission during high-speed operation. Wear-resistant steel gaskets are used between the planetary gear and the bracket to avoid premature wear of different materials. Others       Not adopted  

In the field of robotics and intelligent manufacturing, harmonic drives and RV reducers play crucial roles. Each has unique working principles, structural characteristics, and application scenarios. Next, we will explore the differences between these two types of reducers in more detail and reveal their market performance and future development trends through specific data.   Harmonic reducer VS RV reducer No. Harmonic Drives RV Reducer Technical features Transmits motion through the elastic deformation of the flexible wheel, mainly composed of three core components: flexible wheel, steel wheel, and wave generator Transmission is achieved through multi-stage reduction, generally composed of the front stage of the planetary gear reducer and the rear stage of the cycloid pinwheel reducer Advantages High transmission accuracy, small size, light weight, low noise, high transmission ratio High negative pressure, high strength Disadvantages Small negative pressure, weak impact resistance Large volume   Harmonic Drive Harmonic drives have advantages such as a large single-stage transmission ratio, small size, light weight, high motion precision, and the ability to operate normally in confined spaces and under radiation conditions. Compared to general reducers, when the output torque is the same, the volume of harmonic drives can be reduced by 2/3 and the weight by 1/2. This gives them a strong advantage in components like the small arm, wrist, and hand of robots. However, harmonic drives have a light load capacity, with an allowable torque load within 1500 N·m, which limits their potential to expand into heavy load areas. RV Reducer RV reducers have a wide range of transmission ratios, stable precision, high fatigue strength, higher rigidity, and torque bearing capacity. They can handle allowable torque loads of up to 8000 N·m, making them advantageous for heavy load parts such as the large arm and base of robots. However, their heavy weight and large size prevent them from developing into light, flexible, and light load fields. Market Situation and Future Prospects In recent years, with the rapid development of industrial automation and robotics technology, the market demand for harmonic drives and RV reducers has continued to grow. According to the "China Precision Reducer Industry Status Deep Research and Investment Strategy Research Report (2022-2029)," it is estimated that under the cautious expansion of Japanese companies, the global market demand for harmonic drives and RV reducers will exceed 30 million units and 8 million units, respectively, by 2027, creating a capacity gap of 29.22 million units and 5.87 million units. Harmonic drives have a particularly prominent application in the field of robotics, occupying a large market share. RV reducers, on the other hand, have broad application prospects in fields such as CNC machine tools and packaging machinery. Especially with the continuous development of technologies such as 5G, the Internet of Things, and artificial intelligence, intelligent manufacturing and robotics technology will be more widely applied. This will bring huge market opportunities and challenges to the harmonic drive and RV reducer industries. In the next three years, the harmonic drive and RV reducer industries are expected to achieve faster growth and higher development levels.

The 2024 World Artificial Intelligence Conference (WAIC 2024), held in Shanghai, marks the seventh edition of this premier AI event in China. Known for attracting top industry leaders and featuring extensive exhibitions, WAIC 2024 has achieved record-high metrics in terms of exhibition scale, participating companies, standout exhibits, and debut products. At WAIC, corporate developments often serve as indicators of the overall industry trends. The debut of Tesla's second-generation humanoid robot, Optimus, drew a crowd of onlookers.Tesla has applied its car training techniques to robots, continuously training them using massive amounts of data through sensors and computer vision to enhance their maturity. In terms of flexibility, the robot features 28 degrees of freedom throughout its body, with 11 degrees of freedom in its hands, enabling clear recognition of surrounding objects and agile movements. Additionally, Unitree Robotics showcased China's first full-sized humanoid robot, H1, capable of running. Other companies like Fourier, Dataa Robotics, and DEEP Robotics will also present over 20 intelligent robots.

2024 marks a golden era for humanoid robots, often referred to as the year of humanoid robotics. The rise of humanoid robots can be attributed to two main factors: the involvement of tech giants and the maturity of recent research and development technologies, closely linked to advancements in AI and hardware technologies. Among the core components of humanoid robots, the controller acts as the brain, the servo motor serves as the power center, and the precision gear reducer functions as the tendons and joints. In terms of composition, the value of precision gear reducers accounts for approximately 30% to 40% of the robot's overall value, with costs making up around 35%. Thus, they are among the most critical core components of humanoid robots. If AI models dictate the capabilities of humanoid robots in multimodal interaction, integrated perception, and autonomous decision-making, precision gear reducers determine their mobility, flexibility, and lightweight design. Currently, for AI models to flourish in the field of humanoid robots, they must address the challenge of unifying mathematical and physical models. Ultimately, it is the research and production of precision gear reducers that establishes a scientific barrier for humanoid robots, representing a significant divide between software and hardware technologies in the future. Precision gear reducers are categorized into harmonic reducers and RV reducers. RV reducers are typically used in the base, upper arm, and shoulder of industrial robots, while harmonic reducers are primarily applied to the arms and joints of humanoid robots. The higher the degree of freedom in humanoid robots, the more joints they possess, leading to an exponential increase in the use of harmonic reducers. Tesla's latest humanoid robot, Optimus, has 42 degrees of freedom and is equipped with 28 gear reducers, of which a staggering 20 are harmonic reducers, accounting for 71.4% of the total. Similarly, Tianlian's humanoid robot has 71 degrees of freedom and uses 41 harmonic reducers, comprising 57.7% of its total gear reducers. These examples highlight the significant role of harmonic reducers in the research and application of humanoid robots. The human body has approximately 78 named joints, with 60 located in the elbow, wrist, finger, leg, and toe joints, which are highly flexible and compact, making them suitable for harmonic reducers. For humanoid robots to achieve flexibility and degrees of freedom close to that of humans, the demand for harmonic reducers will be substantial. The harmonic reducers used in robots are generally precision-grade reducers, requiring a precision level of grade 2 or above. This necessitates that harmonic reducers possess a long lifespan and high precision.   Enhancing the fatigue resistance and lifespan of harmonic reducers while ensuring high precision has always been our primary research and development objective. As one of China's leading manufacturers of harmonic reducers, we are committed to innovation and self-research production. Based on the fundamental theory of harmonic transmission, we determine the shape of the flexible wheel teeth and overall structure, flexible wheel deformation curve, wave generator profile, rigid wheel teeth shape, and rigid wheel structure according to actual working requirements. We also conduct fatigue strength checks on the flexible wheel, which is prone to fatigue failure. After theoretical validation, we ensure the fatigue strength of the flexible wheel meets the required standards. We establish a three-dimensional model of the rigid-flexible wheel system and create a finite element model based on the actual working conditions of the harmonic reducer. We study the assembly process of the rigid-flexible wheel system and the engagement process under rated load through simulation analysis. This allows us to determine whether the deformation, nodal displacement, and stress distribution of the flexible wheel during assembly and engagement are reasonable, ensuring that the positional relationships between components of the rigid-flexible wheel system align with actual conditions. Ultimately, we achieve the development of a compact, high-load, high-precision harmonic reducer. Tooth profile simulation Stress and contact simulation Simultaneously, we utilize multifunctional friction and wear testing machines to conduct tests on friction and wear coefficients, wear depth, and the detection of solid lubricant film detachment via acoustic emission voltage curves. Through experimental studies on samples under varying loads, sliding speeds, deformation amounts, roughness, and lubrication methods in atmospheric conditions, we analyze the wear mechanisms under different conditions. We have established a methodology for experimental and analytical studies on the fatigue failure and friction wear of the rigid-flexible theory system in harmonic reducers, which is applied to fatigue life prediction and structural optimization design of the flexible wheel, ensuring high-efficiency and high-precision operation of harmonic transmission. After various optimization designs, we have developed proprietary RS arc 3D tooth profiles that significantly enhance gear meshing accuracy, achieving a meshing ratio increase of 25% to 30%. The application of surface nano-enhanced lubrication technology has improved friction and wear performance, increasing gear hardness by HRC 2.5 to 3.5, with lifespans exceeding 15,000 hours and backlash less than 10 arc seconds. Through the optimization of flexible wheel fatigue life, the enhancement of flexible wheel materials, and heat treatment processes, we have realized the miniaturization of harmonic reducers, boosting their torque load capacity and rigidity to support ultra-lightweight integrated joint operations. Our miniaturized harmonic reducer development has introduced four new models: 03, 05, 08, and 11, each designed with different input and output options (shaft and flange) and tailored to various torque and speed settings with reduction ratios of 30, 50, 80, and 100. These new reducers maintain high performance while emphasizing compatibility with humanoid robots. Considering the demand for humanoid robots, the global harmonic reducer market is expected to reach 14.75 billion yuan by 2025. This projection reflects not only the expanding market scale but also highlights the pivotal role of harmonic reducers in humanoid robot technology. From a technical standpoint, the precision and efficiency of harmonic reducers make them one of the key components of humanoid robots. As the requirements for motion precision and stability in humanoid robots increase, the demand for harmonic reducers will correspondingly rise. Their unique transmission principles enable high torque, low noise, and smooth motion output, which are crucial for simulating human movements in humanoid robots. Furthermore, the compact design of harmonic reducers makes them suitable for the limited spatial layouts of humanoid robots, providing greater flexibility in design and production. In terms of research and development, the continuous innovation of harmonic reducers is a key driver for advancing humanoid robot technology. With ongoing developments in material science, manufacturing processes, and control technologies, the performance of our harmonic reducers continues to improve. The application of new materials allows harmonic reducers to achieve higher strength and wear resistance at lighter weights. Additionally, advanced manufacturing processes and precision machining techniques enhance production efficiency, reducing costs and accelerating the commercialization of humanoid robots.  

The robotics open community has learned that the International Federation of Robotics (IFR) recently released the "2024 World Robotics Report." Founded in 1987, IFR is a professional non-profit organization based in Frankfurt, Germany, representing the voice of the global robotics industry. The report focuses on two main sectors: industrial robots and service robots. According to the report, in 2023, Germany installed 28,355 industrial robots, a 7% increase, reaching a historical high. Germany is the largest industrial robot market in Europe, with a total installation of 269,427 units and an annual growth rate of about 5%. Currently, one in three robots installed in Europe comes from German companies. China remains the largest industrial robot market in the world, with approximately 276,000 new installations, accounting for 51% of the global total. The total number of operational industrial robots worldwide surpassed 4.28 million units in 2023, reflecting a 10% year-on-year increase. Mobile robots also saw significant growth, reaching 205,000 units, a 30% increase. Over the past three years, annual global robot growth has exceeded 500,000 units, with 2023 seeing around 540,000 new installations. Asia accounted for 70% of this growth, Europe for 17%, and the Americas for 11%. China alone represented 51%, followed by Japan, the USA, South Korea, and Germany. In terms of robot density, the global average increased from 151 to 162 in 2023. South Korea, China, Germany, and Japan have the highest robot densities. In industry distribution, the machine equipment sector saw a 16% increase in installations, while the electronics/electrical sector dropped by 20%, and the automotive sector remained stable compared to last year. Notably, India had the fastest growth in new installations, reaching 8,510 units, a 59% increase, marking a new high for the country. The demand in the automotive sector rose to 3,551 units, up by 139%. China has been the largest robot market for eleven consecutive years, with 1.755 million operational industrial robots in 2023, a 17% increase. The market share of domestic robots rose to 47%. In global robot sales, 2023 saw a decline in industrial robot sales to 541,300 units, a 2.1% decrease. The robot market is expected to gradually increase in the coming years due to a declining labor force population. In the service robot market, the report shows that in 2023, the global installation of professional service robots reached 205,000 units, a 30% increase. Medical robots accounted for 6,200 installations, growing by 36%. Consumer service robots numbered 4.1 million units, with a growth of 1%. Looking ahead, the report forecasts that global robot installations will remain around 541,000 units in 2024, with growth accelerating in 2025 and 2026. By 2027, installations are expected to reach 601,600 units, with a compound annual growth rate of 4%. The top five countries for service robot manufacturers are the USA, China, Germany, Japan, and France. Service robots are primarily used in transportation and logistics, hospitality, specialized cleaning, healthcare, and agriculture. In 2023, nearly 6,200 medical robots were sold, a 36% increase. Sales of service robots in transportation and logistics grew by 35%, while over 540,000 hotel robots were sold, up by 31%. In agricultural digitization, nearly 20,000 robots were sold, growing by 21%. Demand for professional cleaning robots increased by 4%, with nearly 12,000 units sold. In terms of regional distribution, Asia has the most service robot manufacturers, followed by Europe and the Americas. Europe houses the majority of service and medical robot manufacturers, with 405 companies, representing 44%. Asia has 268 companies (29%), while the Americas have 233 companies (25%).

Dexterous hands are an important carrier for humanoid robots' "cerebellum" to achieve dexterous operations and human-machine interaction, developing towards high integration and intelligence. Dexterous hands are highly flexible and complex end effectors that play a key role in the interaction between robots and the environment. Due to their ability to mimic various dexterous grasping and complex operational capabilities of human hands, they are widely used in fields such as aerospace, medical care, and intelligent manufacturing. According to data from Statista, the global market size for robotic dexterous hands was approximately USD 1.16 billion in 2021, and it is expected to grow to USD 3.035 billion by 2030, with a CAGR of 10.9% from 2022 to 2030.   Low-cost, modular dexterous hands have become a market focus in recent years As a new type of end effector, robotic dexterous hands play a critical role in the interaction between robots and the environment. Since the 1970s, domestic and international universities and research institutions have conducted extensive research on dexterous hand end units. From three-finger dexterous hands to five-finger bionic dexterous hands, the applications span industrial and general scenarios. The skills of dexterous hands have evolved from simple grasping to more complex tasks like folding clothes and screwing bolts. Through high-precision and tactile sensing, they meet operational requirements in real-world scenarios.   Early representative products of dexterous hands Since the 1970s, robotic hand units have transitioned from simple grippers to bionic dexterous hands to meet diverse operational requirements. Representative products from this period include the Okada dexterous hand from Japan's "Electrotechnical Laboratory," the Stanford/JPL dexterous hand from Stanford University in the U.S., and the Utah/MIT dexterous hand developed jointly by MIT and the University of Utah. Although early dexterous hands did not appear flexible, their theoretical exploration laid the foundation for research on human-like multi-finger dexterous hands, providing valuable theoretical and practical experience for the subsequent design of multi-finger dexterous hands.   By the late 20th century, robotic dexterous hands entered a phase of rapid development. With the advancement of embedded hardware, multi-finger dexterous hands started to evolve toward high integration and sensing capabilities. Typical products from this period include the DLR-I and DLR-II dexterous hands from the German Aerospace Center, which integrated 25 sensors, including tactile sensors akin to artificial skin, joint torque sensors, position sensors, and temperature sensors, thereby upgrading flexibility and sensing capabilities. However, multi-finger dexterous hands faced challenges such as high manufacturing costs, poor reliability, and expensive maintenance. Therefore, in recent years, lightweight, robust, modular, and low-cost dexterous hands have become a market focus.   Analysis of multi-finger dexterous hand design, driving, and transmission structures In terms of product design, dexterous hand structures are mainly divided into internally-driven, externally-driven, and hybrid-driven designs. Due to technical limitations, early dexterous hands typically used externally-driven designs, resulting in large size and volume. With the development of integrated joint motors, the size of the drivers and transmission accuracy have significantly improved, and internally-driven designs have become the mainstream technological route, with dexterous hands trending toward miniaturization.   Comparison of dexterous hand driving methods (categorized by driving method) Dexterous hands are driven mainly by electric motors, pneumatic systems, or shape-memory alloys. Electric motor-driven hands are currently the primary form, offering advantages such as high driving strength, transmission accuracy, and fast response speed. In recent years, servo motor technology for small dexterous hands has rapidly evolved, and several outstanding robotic dexterous hand companies have emerged in the market. Pneumatic-driven systems, though lower in cost, have drawbacks such as low stiffness and poor dynamic performance. Early pneumatic drives originated in Japan and can be divided into Y-shaped and flat-shaped finger grippers, with cylinder diameters of 16mm, 20mm, 25mm, 32mm, and 40mm. Japanese SMC pneumatic fingers are currently widely used in industrial scenarios. Shape-memory alloy-driven systems are mostly in the experimental phase. While they offer fast driving speed, they have low durability and are unsuitable for long-term high-load use.   Classification of multi-finger dexterous hands In terms of transmission methods, dexterous hands are categorized into tendon-driven, gear-driven, and linkage-driven types. Tendon-driven hands have a simple structure and flexible control but lack control precision and grip strength. Gear-driven hands offer high control precision but are complex and costly. Linkage-driven hands can grip large objects and have compact designs, but they face difficulties in long-distance control and offer limited gripping space.   Projected threefold growth in the next decade: The global robotic dexterous hand market is expected to exceed USD 3.035 billion by 2030 According to Statista, the global robotic dexterous hand market was approximately USD 1.16 billion in 2021. Demand for dexterous hands is strong across sectors such as industrial automation, aerospace, hazardous materials, and healthcare. Statista predicts that the market size will grow from USD 1.16 billion in 2021 to USD 3.035 billion by 2030, with a CAGR of 10.9% from 2022 to 2030. At the same time, the global market volume for robotic dexterous hands is expected to increase from 507,500 units in 2021 to 1.4121 million units in 2030, with a CAGR of 11.7% from 2022 to 2030.   Market forecast for the global robotic dexterous hand market (2021-2030, in million USD) Currently, some dexterous hand products are in the early exploratory stage, including spacecraft extravehicular missions, bionic prosthetics, remote surgery, and small component assembly on production lines.   NASA's Robonaut robot equipped with self-developed dexterous hands In aerospace exploration, successful examples include NASA's Robonaut hand and Robonaut2 dexterous hand, and the DLR-I and DLR-II dexterous hands from the German Aerospace Center. The DEXHAND is expected to grip and operate EVA tools such as pliers, scissors, small cutters, brushes, hammers, shovels, cutters, cables (multiple), hex wrenches, and pistol-grip automatic screwdrivers (supporting their trigger-switching mechanisms).   In the medical rehabilitation field, the focus is on prosthetic needs. Current high-performance, highly flexible bionic prosthetic hands typically use pattern recognition-based control systems to achieve multi-degree-of-freedom joint motion control. Examples include Ottobock's SensorHand Speed, Bebionic and Michelangelo dexterous hands, and Open Bionics' Hero Arm.

  Harmonic gear reducers are currently the mainstream solution for joint rotation actuators in humanoid robots. They offer advantages such as compact size, low weight, high motion accuracy, and the ability to operate effectively in confined spaces. However, compared to RV reducers and precision planetary reducers, they have lower load capacity. Currently, the load requirements for humanoid robots are relatively low, but there are high demands for actuator size, weight, and control precision, making harmonic gear reducers the predominant choice for joint rotation actuators in humanoid robots. The humanoid robot market may bring over a trillion yuan in new opportunities for harmonic gear reducers. Referencing Tesla's approach, if we assume a breakthrough from zero to one in humanoid robots starting in 2024, and that the prices of harmonic gear reducers decline gradually with increased usage, projections suggest that by 2030, the production of humanoid robots may reach 660,000 units. This corresponds to a market for harmonic gear reducers growing from 90 million yuan in 2024 to 11.5 billion yuan. In the long term, as the production of humanoid robots scales up to tens of millions, the market for harmonic gear reducers could reach hundreds of billions. Harmonic gear reducers can be categorized into two main types based on the design of the flexible wheel: cup-type and hat-type. They can also be classified by the level of integration of their components into component-type and module-type (assembly-type). In addition to the standard hat-type and cup-type harmonic gear reducers, there are many derivative models, including high-torque types (which can withstand higher torques), short-cylinder types (thinner profiles), ultra-light types (lighter weight), hollow types (for hat-type products with internal cavities for routing), and input shaft types (for hat-type products with built-in input shafts). From a market share perspective, the global gear reducer industry is dominated by Japanese manufacturers, with accelerated domestic substitution. In 2021, Japanese leader Harmonic Drive held over 80% of the global market share. However, in recent years, with the rise of domestic industrial robot manufacturers, there has been a clear trend towards domestic substitution. Companies like Leaderdrive Harmonic and Laifual Harmonic have made significant production breakthroughs, gradually increasing their market share. By 2023, the combined market share of Harmonic Drive and NIDEC-SHIMPO in China had dropped to about 45%. Currently, domestic companies are competitive with Harmonic Drive in certain strength metrics, though there remains some gap in precision metrics. Additionally, there are significant differences in product range completeness and the number of patents. In terms of torque, Harmonic Drive's products have a peak torque range from 0.22 Nm to 6175 Nm, while only Leaderdrive Harmonic and FDROBOT are relatively close domestically. In terms of patent numbers, Harmonic Drive leads by a wide margin due to years of research investment, with Leaderdrive Harmonic holding the highest number among domestic companies. Performance comparisons show that some domestic firms have already matched or exceeded Harmonic Drive in average load torque and instantaneous maximum torque. In terms of precision metrics, such as angular transmission accuracy, domestic companies have largely reached levels comparable to Harmonic Drive, but there remains a gap in maximum backlash.