Hollow Rotary Platform vs. Harmonic Rotary Actuator: Application Comparison and Interchangeability

This article explains why torque density is an important parameter when selecting harmonic joint modules for robotic arms. Instead of focusing only on rated torque, engineers should also consider actuator mass, volume, precision, thermal performance, dynamic performance, and installation constraints. A high-torque-density harmonic joint module can provide sufficient torq...

Positioning jitter in a robot joint can result from mismatched PID parameters, load conditions, mechanical characteristics, or feedback performance. This article explains the HPJM Harmonic Joint Actuator’s cascaded PID control structure and the roles of the speed-loop P/I and position-loop P/D parameters, then provides a practical tuning procedure covering mechanical che...

This article explains the key factors that determine the positioning accuracy of a harmonic rotary actuator, highlighting why low backlash and high encoder resolution alone cannot guarantee precise motion. It explores the roles of torsional stiffness, encoder feedback architecture, load inertia, bearing support, servo tuning and mechanical installation, and provides prac...