RealMan WHJ60-100 is a torque-sensing harmonic joint module from the WHJ Torque Series. It integrates a servo driver, frameless torque motor, dual encoders, brake, precision harmonic reducer, hollow shaft, and CAN FD communication in a compact module. This model provides 60 N·m rated torque, a 100:1 reduction ratio, 30 RPM peak speed, and a 1121 g module weight for force-aware robot joint development. Features Torque-sensing joint module – Designed for force-feedback and compliant interaction research. 60 N·m rated torque – Sized for robot arm shoulders, humanoid waist and hip joints, ankle joints, heavy positioning systems, and research platforms. Integrated architecture – Combines motor, harmonic reducer, servo driver, dual encoders, brake, and hollow shaft. CAN FD communication – Supports high-speed command and joint-state communication. Dual encoders – Includes a 16-bit incremental encoder and an 18-bit absolute position encoder. Compact mechanical package – Ø70 × 106 mm overall size with a 9 mm hollow aperture. Official development resources – Parameters, models, drawings, electrical guidance, CAN FD examples, and tool instructions are linked below. RealMan WHJ Torque Joint Selection Guide Model Rated Torque Gear Ratio Weight Dimensions Peak Speed Product WHJ10-80 10 N·m 80:1 489 g Ø50 × 78 mm 37.5 RPM View WHJ10-80 WHJ30-80 30 N·m 80:1 820 g Ø60 × 101 mm 37.5 RPM View WHJ30-80 WHJ60-100 60 N·m 100:1 1121 g Ø70 × 106 mm 30 RPM View WHJ60-100 Specifications Parameter Value Model WHJ60-100 Series WHJ Torque Series Module Type Torque-sensing harmonic joint module Rated Torque 60 N·m Reduction Ratio 100:1 Weight 1121 g Dimensions Ø70 × 106 mm Hollow Aperture 9 mm Rated Voltage 24 V Rated Current 14 A Rated Power 336 W Rated Speed 30 RPM Peak Speed 30 RPM Operating Temperature 0–50 °C Incremental Encoder 16 bit Absolute Position Encoder 18 bit Brake Type Pin-type brake Communication Interface CAN FD Engineering note: RealMan states that regenerative braking energy can raise the bus voltage during high-load, high-speed operation. Review the official electrical instructions and use the specified power-discharge protection where required. Official Resources and Downloads Official RealMan WHJ Torque Series Product Page WHJ60-100 Official Parameters WHJ Joint Family and Model Overview WHJ Electrical and Power Instructions WHJ 3D Models and Dimensional Drawings WHJ CAN FD Usage Demo RealMan Single-Joint Tool User Manual Applications Robot joint development – Build compact force-aware joints for robotic arms and manipulators. Humanoid robotics – Develop appropriately sized neck, wrist, elbow, shoulder, waist, hip, or ankle joints. Compliant interaction – Research force feedback and dynamic force closed-loop control. Medical and rehabilitation systems – Prototype surgical, assistive, or exoskeleton mechanisms after system-level validation. Education and research – Teach integrated actuator design, CAN FD control, sensing, and robot dynamics. Industrial automation – Integrate into compact automation equipment and positioning systems. Packing List RealMan WHJ60-100 torque-sensing harmonic joint module ×1 Cables, CAN interfaces, power-discharge hardware, and other accessories depend on the selected product variant. FAQ .faq-accordion details { border-bottom: 1px solid #e6eef8; padding: 14px 0; } .faq-accordion summary { list-style: none; cursor: pointer; font-size: 16px; font-weight: 700; color: #1f2933; position: relative; padding-right: 32px; } .faq-accordion summary::-webkit-details-marker { display: none; } .faq-accordion summary::after { content: "\203A"; position: absolute; right: 4px; top: 50%; transform: translateY(-50%) rotate(90deg); color: #007fff; font-size: 28px; line-height: 1; transition: transform 0.2s ease; } .faq-accordion details[open] summary::after { transform: translateY(-50%) rotate(270deg); } .faq-accordion p { margin: 12px 0 0; color: #4b5563; line-height: 1.65; } Is WHJ60-100 a torque-sensing joint?Yes. This product follows the official WHJ Torque Series specification for WHJ60-100. What rated torque and reduction ratio does it provide?The specified rated torque is 60 N·m, with a 100:1 reduction ratio. What communication interface is used?The official specification lists CAN FD. Use the official CAN FD documentation and a compatible interface. What power supply is required?The rated voltage is 24 V. Review the official electrical instructions before selecting a power supply or protection hardware. Is a power-discharge module required?RealMan warns that high-load, high-speed operation can generate regenerative energy. Follow the official electrical guidance to determine whether discharge protection is required. What do the storefront variant labels mean?The storefront variant label identifies the order configuration. The selected product variant defines the model code, interface, brake, cable, and accessory configuration. Where can I download 3D models and drawings?Use the official RealMan models and dimensional drawings link above and select the matching WHJ Torque model.
