Large Harmonic Joint Modules for Robotic Systems

ARTUS AHM Large Series harmonic actuators and joint modules are designed for industrial robots and high-load robotic joints requiring high torque capacity, rigidity and precision.

AVAILABLE IN MULTIPLE MODELS

View Specifications Request a Quote

AHM Large Series

AHM Large Series Overview

Compare large harmonic joint module platforms by module size, torque capacity, rated power and integration requirements.

Platform	Motor Ø	Module Ø	Available Ratios	Peak Torque	Rated Power	Weight — No Brake	Communication
AHM-080-097	80 mm	97 mm	51 / 81 / 101 / 121 / 161	121–217 Nm	450 W	1.50 kg	CAN / EtherCAT
AHM-080-110	80 mm	110 mm	51 / 81 / 101 / 121 / 161	121–217 Nm	450 W	2.06 kg	CAN / EtherCAT
AHM-100-120	100 mm	120 mm	51 / 81 / 101 / 121 / 161	267–459 Nm	720 W	2.52 kg	CAN / EtherCAT

TECHNICAL SPECIFICATIONS

LARGE SERIES

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

97 MM PLATFORM

AHM-080-097

5 ratio options · Ø97 mm · 121–217 Nm peak torque · CAN / EtherCAT

Parameter	Unit	AHM-080-097-R51	AHM-080-097-R81	AHM-080-097-R101	AHM-080-097-R121	AHM-080-097-R161
Reduction Ratio	:1	51	81	101	121	161
Start / Stop Peak Torque	Nm	121	169	194	207	217
Max. Average Load Torque — Robot	Nm	68.5	107	133	133	133
Rated Torque at 2000 rpm / Ratio — Industrial	Nm	48	78	84	84	84
Output Peak Speed	rpm	65	43	36	30	22
Rated Speed at 1/2 Rated Torque	rpm	54	35	27	23	17
Backlash	arcsec	20	20	10	10	10
Rated Power	W	450	450	450	450	450
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 / 2	0 / 2	0 / 2	0 / 2	0 / 2
Torsional Stiffness	10⁴ N/rad	2.38	2.95	2.92	2.95	2.95
Allowable Radial Load	kN	19.34	19.34	19.34	19.34	19.34
Allowable Axial Load	kN	43.95	43.95	43.95	43.95	43.95
Allowable Bending Moment	Nm	710	710	710	710	710
Length — No Brake / Brake	mm	85.5±0.5 / 105.5±0.5	85.5±0.5 / 105.5±0.5	85.5±0.5 / 105.5±0.5	85.5±0.5 / 105.5±0.5	85.5±0.5 / 105.5±0.5
Through Bore	mm	27	27	27	27	27
Weight — No Brake / Brake	kg	1.50 / 1.63	1.50 / 1.63	1.50 / 1.63	1.50 / 1.63	1.50 / 1.63
Inertia — No Brake / Brake	g·cm²	1477.6 / 1761.1	1477.6 / 1761.1	1477.6 / 1761.1	1477.6 / 1761.1	1477.6 / 1761.1

110 MM PLATFORM

AHM-080-110

5 ratio options · Ø110 mm · 121–217 Nm peak torque · CAN / EtherCAT

Parameter	Unit	AHM-080-110-R51	AHM-080-110-R81	AHM-080-110-R101	AHM-080-110-R121	AHM-080-110-R161
Reduction Ratio	:1	51	81	101	121	161
Start / Stop Peak Torque	Nm	121	169	194	207	217
Max. Average Load Torque — Robot	Nm	68.5	107	133	133	133
Rated Torque at 2000 rpm / Ratio — Industrial	Nm	48	78	84	84	84
Output Peak Speed	rpm	65	43	36	30	22
Rated Speed at 1/2 Rated Torque	rpm	54	35	27	23	17
Backlash	arcsec	20	20	10	10	10
Rated Power	W	450	450	450	450	450
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 / 2	0 / 2	0 / 2	0 / 2	0 / 2
Torsional Stiffness	10⁴ N/rad	2.38	2.95	2.92	2.95	2.95
Allowable Radial Load	kN	35.8	35.8	35.8	35.8	35.8
Allowable Axial Load	kN	81.36	81.36	81.36	81.36	81.36
Allowable Bending Moment	Nm	260	260	260	260	260
Length — No Brake / Brake	mm	85.5±0.5 / 105.5±0.5	85.5±0.5 / 105.5±0.5	85.5±0.5 / 105.5±0.5	85.5±0.5 / 105.5±0.5	85.5±0.5 / 105.5±0.5
Through Bore	mm	27	27	27	27	27
Weight — No Brake / Brake	kg	2.06 / 2.26	2.06 / 2.26	2.06 / 2.26	2.06 / 2.26	2.06 / 2.26
Inertia — No Brake / Brake	g·cm²	1477.6 / 1761.1	1477.6 / 1761.1	1477.6 / 1761.1	1477.6 / 1761.1	1477.6 / 1761.1

120 MM PLATFORM

AHM-100-120

5 ratio options · Ø120 mm · 267–459 Nm peak torque · CAN / EtherCAT

Parameter	Unit	AHM-100-120-R51	AHM-100-120-R81	AHM-100-120-R101	AHM-100-120-R121	AHM-100-120-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	25.11	25.11	25.11	25.11	25.11
Allowable Axial Load	kN	57.06	57.06	57.06	57.06	57.06
Allowable Bending Moment	Nm	1860	1860	1860	1860	1860
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	2.52 / 3.21	2.52 / 3.21	2.52 / 3.21	2.52 / 3.21	2.52 / 3.21
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

Model Configuration

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

B = Brake

Dual encoder and EtherCAT configurations are available on request. Please contact ARTUS for detailed specifications, interface requirements and final model confirmation before ordering.

DIMENSIONAL DRAWINGS