AHM EXTRA-LARGE SERIES
ARTUS AHM Extra-Large Series high-torque harmonic actuators are designed for heavy-load robotic joints and large motion systems requiring increased torque capacity, structural rigidity and robust mechanical integration.
AVAILABLE IN MULTIPLE MODELS
AHM Large Series
Compare extra-large harmonic joint module platforms by module size, torque capacity, rated power and mechanical integration requirements.
| Platform | Motor Ø | Module Ø | Available Ratios | Peak Torque | Rated Power | Weight — No Brake | Communication |
|---|---|---|---|---|---|---|---|
| AHM-100-142 | 100 mm | 142 mm | 51 / 81 / 101 / 121 / 161 | 267–459 Nm | 720 W | 3.96 kg | CAN / EtherCAT |
| AHM-100-170 | 100 mm | 170 mm | 51 / 81 / 101 / 121 / 161 | 496–800 Nm | 650 W | 6.84 kg | CAN / EtherCAT |
TECHNICAL SPECIFICATIONS
Compare available AHM Extra-Large configurations by torque, speed, precision, electrical and mechanical performance.
Five ratio configurations with 267–459 Nm peak torque, 720 W rated power and CAN / EtherCAT communication.
| Parameter | Unit | AHM-100-142 R51 | AHM-100-142 R81 | AHM-100-142 R101 | AHM-100-142 R121 | AHM-100-142 R161 |
|---|---|---|---|---|---|---|
| Reduction Ratio | :1 | 51 | 81 | 101 | 121 | 161 |
| Start / Stop Peak Torque | Nm | 267 | 376 | 411 | 436 | 459 |
| Max. Average Load Torque — Robot | Nm | 133 | 206 | 267 | 267 | 267 |
| Rated Torque at 2000 rpm / Ratio — Industrial | Nm | 94 | 146 | 169 | 169 | 169 |
| Output Peak Speed | rpm | 55 | 37 | 29 | 24 | 18 |
| Rated Speed at 1/2 Rated Torque | rpm | 44 | 29 | 22 | 18 | 12 |
| Backlash | arcsec | 20 | 20 | 10 | 10 | 10 |
| Rated Power | W | 720 | 720 | 720 | 720 | 720 |
| Supply Voltage | VDC | 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 |
| Communication | — | CAN / EtherCAT | CAN / EtherCAT | CAN / EtherCAT | CAN / EtherCAT | CAN / EtherCAT |
| Brake Torque — No Brake / Brake | Nm | 0 / 4 | 0 / 4 | 0 / 4 | 0 / 4 | 0 / 4 |
| Torsional Stiffness | 10⁴ N/rad | 5.13 | 6.37 | 6.37 | 6.37 | 6.37 |
| Allowable Radial Load | kN | 65.4 | 65.4 | 65.4 | 65.4 | 65.4 |
| Allowable Axial Load | kN | 148.64 | 148.64 | 148.64 | 148.64 | 148.64 |
| Allowable Bending Moment | Nm | 580 | 580 | 580 | 580 | 580 |
| Length — No Brake / Brake | mm | 100.5±0.5 / 121.5±0.5 | 100.5±0.5 / 121.5±0.5 | 100.5±0.5 / 121.5±0.5 | 100.5±0.5 / 121.5±0.5 | 100.5±0.5 / 121.5±0.5 |
| Through Bore | mm | 32 | 32 | 32 | 32 | 32 |
| Weight — No Brake / Brake | kg | 3.96 / 4.38 | 3.96 / 4.38 | 3.96 / 4.38 | 3.96 / 4.38 | 3.96 / 4.38 |
| Inertia — No Brake / Brake | g·cm² | 3910.2 / 4744.7 | 3910.2 / 4744.7 | 3910.2 / 4744.7 | 3910.2 / 4744.7 | 3910.2 / 4744.7 |
Five ratio configurations with 496–800 Nm peak torque, 650 W rated power and CAN / EtherCAT communication.
| Parameter | Unit | AHM-100-170 R51 | AHM-100-170 R81 | AHM-100-170 R101 | AHM-100-170 R121 | AHM-100-170 R161 |
|---|---|---|---|---|---|---|
| Reduction Ratio | :1 | 51 | 81 | 101 | 121 | 161 |
| Start / Stop Peak Torque | Nm | 496 | 641 | 702 | 762 | 800 |
| Max. Average Load Torque — Robot | Nm | 242 | 351 | 460 | 555 | 555 |
| Rated Torque at 2000 rpm / Ratio — Industrial | Nm | 169 | 255 | 328 | 363 | 363 |
| Output Peak Speed | rpm | 33 | 21 | 16 | 14 | 10 |
| Rated Speed at 1/2 Rated Torque | rpm | 22 | 15 | 12 | 10 | 7 |
| Backlash | arcsec | 20 | 20 | 10 | 10 | 10 |
| Rated Power | W | 650 | 650 | 650 | 650 | 650 |
| Supply Voltage | VDC | 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 |
| Communication | — | CAN / EtherCAT | CAN / EtherCAT | CAN / EtherCAT | CAN / EtherCAT | CAN / EtherCAT |
| Brake Torque — No Brake / Brake | Nm | 0 / 6 | 0 / 6 | 0 / 6 | 0 / 6 | 0 / 6 |
| Torsional Stiffness | 10⁴ N/rad | 10 | 13 | 13 | 13 | 13 |
| Allowable Radial Load | kN | 81.6 | 81.6 | 81.6 | 81.6 | 81.6 |
| Allowable Axial Load | kN | 185.45 | 185.45 | 185.45 | 185.45 | 185.45 |
| Allowable Bending Moment | Nm | 850 | 850 | 850 | 850 | 850 |
| Length — No Brake / Brake | mm | 121.7±0.5 / 147.7±0.5 | 121.7±0.5 / 147.7±0.5 | 121.7±0.5 / 147.7±0.5 | 121.7±0.5 / 147.7±0.5 | 121.7±0.5 / 147.7±0.5 |
| Through Bore | mm | 40 | 40 | 40 | 40 | 40 |
| Weight — No Brake / Brake | kg | 6.84 / 7.52 | 6.84 / 7.52 | 6.84 / 7.52 | 6.84 / 7.52 | 6.84 / 7.52 |
| Inertia — No Brake / Brake | g·cm² | 8333.3 / 10709.2 | 8333.3 / 10709.2 | 8333.3 / 10709.2 | 8333.3 / 10709.2 | 8333.3 / 10709.2 |
Base model: AHM-[motor diameter]-[module diameter]-R[ratio]
B = Brake
Dual-encoder and EtherCAT configurations are available where required.
Please contact ARTUS for detailed dual-encoder and EtherCAT specifications, interface requirements and final model confirmation before ordering.
DIMENSIONAL DRAWINGS
Review dimensional and mounting information for AHM Extra Large Series joint module platforms.
DIMENSIONAL DRAWINGS
DIMENSIONAL DRAWINGS
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