Compact Harmonic Joint Modules for Robotic Systems

AHM Compact Series integrates precision harmonic transmission, a high-performance motor, encoder feedback and drive electronics into a compact harmonic actuator and robot joint module for lightweight robotic applications.

AVAILABLE IN MULTIPLE MODELS

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AHM Compact Series

AHM Compact Series Overview

Compact harmonic platforms designed for precision wrists,end-effectors and lightweight robotic joints.

Platform	Motor Ø	Module Ø	Available Ratios	Peak Torque	Rated Power	Weight — No Brake	Communication
AHM-030-040	30 mm	40 mm	51 / 101	3.3–4.8 Nm	30 W	0.19 kg	CAN / EtherCAT
AHM-040-052	40 mm	52 mm	51 / 101	8.3–11 Nm	50 W	0.32 kg	CAN / EtherCAT
AHM-050-060	50 mm	60 mm	51 / 81 / 101	23–34 Nm	85 W	0.45 kg	CAN / EtherCAT

TECHNICAL SPECIFICATIONS

COMPACT SERIES

Compare available AHM Compact Series configurations by torque, speed, precision and mechanical performance.

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Parameter	AHM-030-040 R51	AHM-030-040 R101	AHM-040-052 R51	AHM-040-052 R101	AHM-050-060 R51	AHM-050-060 R81	AHM-050-060 R101
Reduction Ratio :1	51	101	51	101	51	81	101
Start / Stop Peak Torque Nm	3.3	4.8	8.3	11	23	29	34
Max. Average Load Torque — Robot Nm	2.3	3.3	5.5	8.9	8.6	13.5	13.5
Rated Torque at 2000 rpm / Ratio — Industrial Nm	1.8	2.4	3.5	5	6.6	9.6	9.6
Output Peak Speed rpm	118	59	118	59	97	61	49
Rated Speed at 1/2 Rated Torque rpm	90	45	80	40	75	46	37
Backlash arcsec	40	40	40	30	20	20	10
Rated Power W	30	30	50	50	85	85	85
Supply Voltage VDC	24–48	24–48	24–48	24–48	24–48	24–48	24–48
Encoder Resolution bit	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional
Communication	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT
Brake Torque — No Brake / Brake Nm	0 / 0.06	0 / 0.06	0 / 0.15	0 / 0.15	0 / 0.03	0 / 0.03	0 / 0.03
Torsional Stiffness 10⁴ N/rad	0.04	0.09	0.22	0.27	0.32	0.45	0.45
Allowable Radial Load kN	3.19	3.19	5.31	5.31	6.8	6.8	6.8
Allowable Axial Load kN	6.56	6.56	10.59	10.59	15.4	15.4	15.4
Allowable Bending Moment Nm	38	38	82	82	146	146	146
Length — No Brake / Brake mm	60±0.5 / 78.6±0.5	60±0.5 / 78.6±0.5	62±0.5 / 82±0.5	62±0.5 / 82±0.5	63±0.5 / 81.5±0.5	63±0.5 / 81.5±0.5	63±0.5 / 81.5±0.5
Through Bore mm	6	6	12	12	12	12	12
Weight — No Brake / Brake kg	0.19 / 0.27	0.19 / 0.27	0.32 / 0.42	0.32 / 0.42	0.45 / 0.58	0.45 / 0.58	0.45 / 0.58
Inertia — No Brake / Brake g·cm²	27.4 / 45.1	27.4 / 45.1	73 / 116.2	73 / 116.2	158.8 / 228.8	158.8 / 228.8	158.8 / 228.8

Model Configuration

Base model: AHM-[motor diameter]-[module diameter]-R[ratio]

B = Brake

Dual-encoder and EtherCAT configurations are available on request.

For dual-encoder or EtherCAT configurations, please contact ARTUS for detailed specifications, interface requirements and final model confirmation before ordering.

DIMENSIONAL DRAWINGS