Han's Robot Modular Joints

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Industrial Robot Joints

The Han's Robot Modular Joints are industrial 2 DoF electrical motors that include precised encoders and an electro-mechanical breaking system for safety purposes. These joints natively run ROS 2, provide time synchronization capabilities and offer deterministic communications enabled by TSN standards. The Modular Joints are available in a variety of different torque and size combinations, going from 9.4 Nm to 156 Nm rated torque.

H-ROS connector A

The H-ROS connector family greatly simplifies the assembly of the modules providing contacts for power and communication purposes. Spring-based, the contacts offer the needed tolerance and flexibility. Thanks to this, an easy mechanical coupling can be made, avoiding cables.

Datasheet Discover the H-ROS Connector

T9.4

T30

T49

T85

T156
rated torque 9.4 Nm 30 Nm 49 Nm 85 Nm 156 Nm
peak torque 34 Nm 69 Nm 104 Nm 200 Nm 420 Nm
max rotation speed 90º/s 90º/s 90º/s 90º/s 90º/s
weight 2.8 kg 3.8 kg 5.8 kg 9.6 kg 17 kg
rotation angle ±360º ±360º ±360º ±360º ±360º
repeatability 20 arcsec 20 arcsec 20 arcsec 20 arcsec 20 arcsec
communication Gigabit Ethernet Gigabit Ethernet Gigabit Ethernet Gigabit Ethernet Gigabit Ethernet
supply voltage DC 48 V DC 48 V DC 48 V DC 48 V DC 48 V
main material aluminum allow aluminum allow aluminum allow aluminum allow aluminum allow
working temperature 0-50 ºC 0-50 ºC 0-50 ºC 0-50 ºC 0-50 ºC
datasheet cloud_download Download cloud_download Download cloud_download Download
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Powered by the H-ROS SoM


The H-ROS robot bus is deployed in each of the robot modules trough a tiny hardware device called H-ROS SoM (System on Module). All the Hans Robot Modular Joints have an H-ROS SoM inside, running ROS 2 natively, and providing security, interoperability and real-time capabilities, among others.

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