{"product_id":"haitai-ht8108-robot-joint-actuator","title":"HAITAI HT8108 Robot Joint Actuator 6:1 \/ 9:1 Planetary Gear Servo Motor with CAN Driver for Humanoid Robots","description":"\u003ch1\u003eDescription\u003c\/h1\u003e\n\u003ch2\u003eHigh-Torque Robot Joint Actuator for Advanced Motion Control\u003c\/h2\u003e\n\u003cp\u003eThe \u003cstrong\u003eHAITAI HT8108 Series Robot Joint Actuator\u003c\/strong\u003e is a high-performance integrated servo actuator engineered for humanoid robots, quadruped robots, robotic arms, exoskeletons, and advanced automation systems. Combining a brushless DC servo motor, precision planetary gearbox, magnetic encoder, and CAN bus servo driver into one compact module, the HT8108 delivers high torque density, exceptional positioning accuracy, and reliable closed-loop motion control.\u003c\/p\u003e\n\u003cp\u003eAvailable in \u003cstrong\u003eHT8108-J6 (6:1)\u003c\/strong\u003e and \u003cstrong\u003eHT8108-J9 (9:1)\u003c\/strong\u003e gear ratios, the actuator allows designers to select either higher speed or higher output torque according to different robotic joint requirements.\u003c\/p\u003e\n\u003cp\u003eSupporting \u003cstrong\u003eMIT-compatible CAN communication\u003c\/strong\u003e, torque control, velocity control, and position control, the HT8108 integrates easily into modern robotic platforms requiring responsive and precise motion.\u003c\/p\u003e\n\u003chr\u003e\n\u003ch2\u003eKey Features\u003c\/h2\u003e\n\u003cul\u003e\n\u003cli\u003eIntegrated Brushless Servo Motor\u003c\/li\u003e\n\u003cli\u003ePrecision Planetary Gear Reducer\u003c\/li\u003e\n\u003cli\u003eIntegrated CAN Servo Driver\u003c\/li\u003e\n\u003cli\u003eMIT-Compatible CAN Communication\u003c\/li\u003e\n\u003cli\u003eHigh Torque Density Design\u003c\/li\u003e\n\u003cli\u003eCompact Lightweight Construction\u003c\/li\u003e\n\u003cli\u003eClosed-Loop Servo Control\u003c\/li\u003e\n\u003cli\u003e12-bit High Resolution Encoder\u003c\/li\u003e\n\u003cli\u003eLow Backlash Planetary Gearbox (\u0026lt;6 arcmin)\u003c\/li\u003e\n\u003cli\u003eSteel Planetary Gears\u003c\/li\u003e\n\u003cli\u003eSupports Independent External Encoder\u003c\/li\u003e\n\u003cli\u003eDesigned for Humanoid Robot Joints\u003c\/li\u003e\n\u003cli\u003eIdeal for Robot Dogs, Robotic Arms \u0026amp; Exoskeletons\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003chr\u003e\n\u003ch1\u003eSpecifications\u003c\/h1\u003e\n\u003ch2\u003eHT8108-J6\u003c\/h2\u003e\n\u003cdiv class=\"TyagGW_tableContainer\"\u003e\n\u003cdiv class=\"group TyagGW_tableWrapper flex flex-col-reverse w-fit\" tabindex=\"-1\"\u003e\n\u003ctable class=\"w-fit min-w-(--thread-content-width)\"\u003e\n\u003cthead\u003e\n\u003ctr\u003e\n\u003cth class=\"last:pe-10\"\u003eParameter\u003c\/th\u003e\n\u003cth class=\"last:pe-10\"\u003eSpecification\u003c\/th\u003e\n\u003c\/tr\u003e\n\u003c\/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003eModel\u003c\/td\u003e\n\u003ctd\u003eHT8108-J6\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Voltage\u003c\/td\u003e\n\u003ctd\u003e36V\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eVoltage Range\u003c\/td\u003e\n\u003ctd\u003e24–48V\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Power\u003c\/td\u003e\n\u003ctd\u003e170W\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Torque\u003c\/td\u003e\n\u003ctd\u003e6.5 N·m\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eStall Torque\u003c\/td\u003e\n\u003ctd\u003e17 N·m\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Speed\u003c\/td\u003e\n\u003ctd\u003e250 RPM\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMaximum Speed\u003c\/td\u003e\n\u003ctd\u003e650 RPM\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Current\u003c\/td\u003e\n\u003ctd\u003e14.5A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eStall Current\u003c\/td\u003e\n\u003ctd\u003e45A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eGear Ratio\u003c\/td\u003e\n\u003ctd\u003e6:1\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eGear Type\u003c\/td\u003e\n\u003ctd\u003ePlanetary\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eGear Material\u003c\/td\u003e\n\u003ctd\u003eSteel\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eGear Backlash\u003c\/td\u003e\n\u003ctd\u003e\u0026lt;6 arcmin\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ePole Pairs\u003c\/td\u003e\n\u003ctd\u003e21\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eTorque Constant\u003c\/td\u003e\n\u003ctd\u003e0.45 N·m\/A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eSpeed Constant\u003c\/td\u003e\n\u003ctd\u003e13.8 rpm\/V\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eWeight (Motor)\u003c\/td\u003e\n\u003ctd\u003e525 g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eWeight (Driver Version)\u003c\/td\u003e\n\u003ctd\u003e567 g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eSize (Motor)\u003c\/td\u003e\n\u003ctd\u003eØ96 × 34 mm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eSize (Driver Version)\u003c\/td\u003e\n\u003ctd\u003eØ96 × 41.5 mm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMax Axial Load\u003c\/td\u003e\n\u003ctd\u003e800 N\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMax Radial Load\u003c\/td\u003e\n\u003ctd\u003e900 N\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eProtection\u003c\/td\u003e\n\u003ctd\u003eIP54 (Motor Only)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eCommunication\u003c\/td\u003e\n\u003ctd\u003eCAN\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eBaud Rate\u003c\/td\u003e\n\u003ctd\u003e1 Mbps\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eEncoder Resolution\u003c\/td\u003e\n\u003ctd\u003e12-bit\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eControl Modes\u003c\/td\u003e\n\u003ctd\u003eTorque \/ Speed \/ Position\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003chr\u003e\n\u003ch2\u003eHT8108-J9\u003c\/h2\u003e\n\u003cdiv class=\"TyagGW_tableContainer\"\u003e\n\u003cdiv class=\"group TyagGW_tableWrapper flex flex-col-reverse w-fit\" tabindex=\"-1\"\u003e\n\u003ctable class=\"w-fit min-w-(--thread-content-width)\"\u003e\n\u003cthead\u003e\n\u003ctr\u003e\n\u003cth class=\"last:pe-10\"\u003eParameter\u003c\/th\u003e\n\u003cth class=\"last:pe-10\"\u003eSpecification\u003c\/th\u003e\n\u003c\/tr\u003e\n\u003c\/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003eModel\u003c\/td\u003e\n\u003ctd\u003eHT8108-J9\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Voltage\u003c\/td\u003e\n\u003ctd\u003e36V\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eVoltage Range\u003c\/td\u003e\n\u003ctd\u003e24–48V\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Power\u003c\/td\u003e\n\u003ctd\u003e170W\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Torque\u003c\/td\u003e\n\u003ctd\u003e9 N·m\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eStall Torque\u003c\/td\u003e\n\u003ctd\u003e22 N·m\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Speed\u003c\/td\u003e\n\u003ctd\u003e180 RPM\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMaximum Speed\u003c\/td\u003e\n\u003ctd\u003e440 RPM\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Current\u003c\/td\u003e\n\u003ctd\u003e15A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eStall Current\u003c\/td\u003e\n\u003ctd\u003e45A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eGear Ratio\u003c\/td\u003e\n\u003ctd\u003e9:1\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eGear Type\u003c\/td\u003e\n\u003ctd\u003ePlanetary\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eGear Material\u003c\/td\u003e\n\u003ctd\u003eSteel\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eGear Backlash\u003c\/td\u003e\n\u003ctd\u003e\u0026lt;6 arcmin\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ePole Pairs\u003c\/td\u003e\n\u003ctd\u003e21\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eTorque Constant\u003c\/td\u003e\n\u003ctd\u003e0.60 N·m\/A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eSpeed Constant\u003c\/td\u003e\n\u003ctd\u003e9.357 rpm\/V\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eWeight (Motor)\u003c\/td\u003e\n\u003ctd\u003e525 g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eWeight (Driver Version)\u003c\/td\u003e\n\u003ctd\u003e567 g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eSize (Motor)\u003c\/td\u003e\n\u003ctd\u003eØ96 × 34 mm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eSize (Driver Version)\u003c\/td\u003e\n\u003ctd\u003eØ96 × 41.5 mm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMax Axial Load\u003c\/td\u003e\n\u003ctd\u003e800 N\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMax Radial Load\u003c\/td\u003e\n\u003ctd\u003e900 N\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eProtection\u003c\/td\u003e\n\u003ctd\u003eIP54 (Motor Only)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eCommunication\u003c\/td\u003e\n\u003ctd\u003eCAN\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eBaud Rate\u003c\/td\u003e\n\u003ctd\u003e1 Mbps\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eEncoder Resolution\u003c\/td\u003e\n\u003ctd\u003e12-bit\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eControl Modes\u003c\/td\u003e\n\u003ctd\u003eTorque \/ Speed \/ Position\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003chr\u003e\n\u003ch1\u003eApplications\u003c\/h1\u003e\n\u003cul\u003e\n\u003cli\u003eHumanoid Robot Joints\u003c\/li\u003e\n\u003cli\u003eQuadruped Robot Legs\u003c\/li\u003e\n\u003cli\u003eRobotic Arms\u003c\/li\u003e\n\u003cli\u003eExoskeleton Systems\u003c\/li\u003e\n\u003cli\u003eBiped Robots\u003c\/li\u003e\n\u003cli\u003eIndustrial Robot Joints\u003c\/li\u003e\n\u003cli\u003eAutonomous Mobile Robots (AMR)\u003c\/li\u003e\n\u003cli\u003eAGV Steering Systems\u003c\/li\u003e\n\u003cli\u003eRehabilitation Robots\u003c\/li\u003e\n\u003cli\u003eResearch Robotics Platforms\u003c\/li\u003e\n\u003cli\u003ePrecision Motion Systems\u003c\/li\u003e\n\u003cli\u003eAutomation Equipment\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003chr\u003e\n\u003ch1\u003ePackage Includes\u003c\/h1\u003e\n\u003cul\u003e\n\u003cli\u003e1 × HT8108 Robot Joint Actuator\u003c\/li\u003e\n\u003cli\u003eIntegrated Planetary Gearbox\u003c\/li\u003e\n\u003cli\u003eIntegrated Magnetic Encoder\u003c\/li\u003e\n\u003cli\u003eDriver Version (if selected)\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003chr\u003e\n\u003ch1\u003eFAQ\u003c\/h1\u003e\n\u003ch3\u003eDoes the HT8108 include a servo driver?\u003c\/h3\u003e\n\u003cp\u003eThe actuator is available in both \u003cstrong\u003emotor-only\u003c\/strong\u003e and \u003cstrong\u003emotor with integrated CAN driver\u003c\/strong\u003e configurations.\u003c\/p\u003e\n\u003ch3\u003eWhich communication protocol is supported?\u003c\/h3\u003e\n\u003cp\u003eMIT-compatible CAN communication with a default baud rate of \u003cstrong\u003e1 Mbps\u003c\/strong\u003e.\u003c\/p\u003e\n\u003ch3\u003eWhat is the difference between J6 and J9?\u003c\/h3\u003e\n\u003cul\u003e\n\u003cli\u003e\n\u003cstrong\u003eHT8108-J6\u003c\/strong\u003e: Higher speed, lower reduction ratio (6:1).\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eHT8108-J9\u003c\/strong\u003e: Higher output torque, lower output speed (9:1).\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003ch3\u003eCan an external encoder be added?\u003c\/h3\u003e\n\u003cp\u003eYes. The actuator supports an independent external encoder.\u003c\/p\u003e\n\u003ch3\u003eIs this suitable for humanoid robots?\u003c\/h3\u003e\n\u003cp\u003eYes. The HT8108 Series is specifically designed for robotic joint applications including humanoid robots, quadrupeds, robotic arms, and exoskeleton systems.\u003c\/p\u003e","brand":"HAITAI","offers":[{"title":"HT8108-J6 Motor + Gearbox","offer_id":48087365812454,"sku":null,"price":441.0,"currency_code":"USD","in_stock":true},{"title":"HT8108-J6 Motor + Gearbox + Encoder + Driver (CAN)","offer_id":48087365845222,"sku":null,"price":535.0,"currency_code":"USD","in_stock":true},{"title":"HT8108-J9 Motor + Gearbox","offer_id":48087365877990,"sku":null,"price":462.0,"currency_code":"USD","in_stock":true},{"title":"HT8108-J9 Motor + Gearbox + Encoder + Driver (CAN)","offer_id":48087365910758,"sku":null,"price":585.0,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0686\/0954\/0326\/files\/ht8108-can-servo-actuator_webp.png?v=1785398724","url":"https:\/\/robotdoo.com\/products\/haitai-ht8108-robot-joint-actuator","provider":"RobotDoo","version":"1.0","type":"link"}