{"product_id":"haitai-ht8115-robot-joint-actuator","title":"HAITAI HT8115 Robot Joint Actuator 6:1 \/ 9:1 Planetary Gear Servo Motor with CAN Driver for Humanoid Robots","description":"\u003ch1 class=\"PDq2pG_selectionAnchorContainer\"\u003eDescription\u003cspan class=\"PDq2pG_selectionAnchor\"\u003e\u003c\/span\u003e\n\u003c\/h1\u003e\n\u003ch2\u003eHigh-Torque Integrated Servo Actuator for Humanoid Robots \u0026amp; Industrial Robotics\u003c\/h2\u003e\n\u003cp\u003eThe \u003cstrong\u003eHAITAI HT8115 Series Robot Joint Actuator\u003c\/strong\u003e is a high-performance integrated servo solution developed for demanding robotic applications requiring exceptional torque density, precision motion control, and compact mechanical integration. Combining a high-efficiency brushless servo motor, precision planetary gearbox, high-resolution encoder, and intelligent CAN servo driver, the HT8115 provides outstanding dynamic performance for next-generation robotic systems.\u003c\/p\u003e\n\u003cp\u003eAvailable in \u003cstrong\u003eHT8115-J6 (6:1)\u003c\/strong\u003e and \u003cstrong\u003eHT8115-J9 (9:1)\u003c\/strong\u003e gear ratios, the HT8115 Series supports a wide range of robotic applications including humanoid robots, quadruped robots, collaborative robots, robotic manipulators, exoskeleton systems, autonomous mobile robots, and intelligent automation equipment.\u003c\/p\u003e\n\u003cp\u003eWith support for \u003cstrong\u003eMIT-compatible CAN communication\u003c\/strong\u003e, multiple servo control modes, and a compact lightweight design, the HT8115 offers reliable closed-loop motion control while simplifying mechanical and electrical integration.\u003c\/p\u003e\n\u003cp\u003eCompared with the HT8108 Series, the HT8115 is optimized for applications requiring higher output torque and increased load capacity, making it well suited for larger robotic joints such as hips, knees, shoulders, and heavy-duty articulated mechanisms.\u003c\/p\u003e\n\u003chr\u003e\n\u003ch1\u003eFeatures\u003c\/h1\u003e\n\u003cul\u003e\n\u003cli\u003eHigh Torque Integrated Robot Joint Actuator\u003c\/li\u003e\n\u003cli\u003eBrushless DC 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 Communication Protocol\u003c\/li\u003e\n\u003cli\u003eHigh Strength Steel Planetary Gears\u003c\/li\u003e\n\u003cli\u003eLow Backlash (\u0026lt;6 arcmin)\u003c\/li\u003e\n\u003cli\u003eHigh Dynamic Response\u003c\/li\u003e\n\u003cli\u003eClosed-Loop Position, Velocity and Torque Control\u003c\/li\u003e\n\u003cli\u003eCompact Lightweight Aluminum Housing\u003c\/li\u003e\n\u003cli\u003eSupports Independent Encoder\u003c\/li\u003e\n\u003cli\u003eDesigned for Humanoid \u0026amp; Quadruped Robots\u003c\/li\u003e\n\u003cli\u003eIdeal for High Load Robotic Joints\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003chr\u003e\n\u003ch1\u003eSpecifications\u003c\/h1\u003e\n\u003ch2\u003eHT8115-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\u003eHT8115-J6\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMotor Type\u003c\/td\u003e\n\u003ctd\u003eBrushless DC Servo Actuator\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\u003e160W\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Torque\u003c\/td\u003e\n\u003ctd\u003e10 N·m\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ePeak Torque\u003c\/td\u003e\n\u003ctd\u003e25 N·m\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Speed\u003c\/td\u003e\n\u003ctd\u003e165 RPM\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMaximum Speed\u003c\/td\u003e\n\u003ctd\u003e330 RPM\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Current\u003c\/td\u003e\n\u003ctd\u003e12A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ePeak 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\u003eGearbox\u003c\/td\u003e\n\u003ctd\u003ePrecision Planetary\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\u003eBacklash\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\u003eEncoder\u003c\/td\u003e\n\u003ctd\u003e12-bit\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\u003eControl Modes\u003c\/td\u003e\n\u003ctd\u003eTorque \/ Velocity \/ Position\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eWeight (Motor)\u003c\/td\u003e\n\u003ctd\u003e660 g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eWeight (Driver Version)\u003c\/td\u003e\n\u003ctd\u003e705 g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMotor Size\u003c\/td\u003e\n\u003ctd\u003eØ96 × 41 mm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eDriver Version Size\u003c\/td\u003e\n\u003ctd\u003eØ96 × 48.5 mm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMaximum Axial Load\u003c\/td\u003e\n\u003ctd\u003e800 N\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMaximum Radial Load\u003c\/td\u003e\n\u003ctd\u003e900 N\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eProtection Rating\u003c\/td\u003e\n\u003ctd\u003eIP54 (Motor Only)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eOperating Temperature\u003c\/td\u003e\n\u003ctd\u003e-20°C to +80°C\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\u003eHT8115-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\u003eHT8115-J9\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMotor Type\u003c\/td\u003e\n\u003ctd\u003eBrushless DC Servo Actuator\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\u003e160W\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Torque\u003c\/td\u003e\n\u003ctd\u003e14 N·m\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ePeak Torque\u003c\/td\u003e\n\u003ctd\u003e35 N·m\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Speed\u003c\/td\u003e\n\u003ctd\u003e110 RPM\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMaximum Speed\u003c\/td\u003e\n\u003ctd\u003e220 RPM\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated Current\u003c\/td\u003e\n\u003ctd\u003e13A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ePeak 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\u003eGearbox\u003c\/td\u003e\n\u003ctd\u003ePrecision Planetary\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\u003eBacklash\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\u003eEncoder\u003c\/td\u003e\n\u003ctd\u003e12-bit\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\u003eControl Modes\u003c\/td\u003e\n\u003ctd\u003eTorque \/ Velocity \/ Position\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eWeight (Motor)\u003c\/td\u003e\n\u003ctd\u003e660 g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eWeight (Driver Version)\u003c\/td\u003e\n\u003ctd\u003e705 g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMotor Size\u003c\/td\u003e\n\u003ctd\u003eØ96 × 41 mm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eDriver Version Size\u003c\/td\u003e\n\u003ctd\u003eØ96 × 48.5 mm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMaximum Axial Load\u003c\/td\u003e\n\u003ctd\u003e800 N\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMaximum Radial Load\u003c\/td\u003e\n\u003ctd\u003e900 N\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eProtection Rating\u003c\/td\u003e\n\u003ctd\u003eIP54 (Motor Only)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eOperating Temperature\u003c\/td\u003e\n\u003ctd\u003e-20°C to +80°C\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 Hip Joints\u003c\/li\u003e\n\u003cli\u003eHumanoid Robot Knee Joints\u003c\/li\u003e\n\u003cli\u003eRobot Shoulder Actuators\u003c\/li\u003e\n\u003cli\u003eRobot Elbow Joints\u003c\/li\u003e\n\u003cli\u003eQuadruped Robot Legs\u003c\/li\u003e\n\u003cli\u003eRobotic Arms\u003c\/li\u003e\n\u003cli\u003eCollaborative Robots (Cobots)\u003c\/li\u003e\n\u003cli\u003eExoskeleton Systems\u003c\/li\u003e\n\u003cli\u003eAGV \u0026amp; AMR Motion Systems\u003c\/li\u003e\n\u003cli\u003eIndustrial Automation\u003c\/li\u003e\n\u003cli\u003eResearch \u0026amp; Educational Robotics\u003c\/li\u003e\n\u003cli\u003eIntelligent Motion Platforms\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003chr\u003e\n\u003ch1\u003ePackage Includes\u003c\/h1\u003e\n\u003cul\u003e\n\u003cli\u003e1 × HAITAI HT8115 Robot Joint Actuator\u003c\/li\u003e\n\u003cli\u003eIntegrated Planetary Gearbox\u003c\/li\u003e\n\u003cli\u003eIntegrated Encoder\u003c\/li\u003e\n\u003cli\u003eIntegrated CAN Driver (Driver Version Only)\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003chr\u003e\n\u003ch1\u003eFAQ\u003c\/h1\u003e\n\u003ch3\u003eWhat is the difference between HT8115-J6 and HT8115-J9?\u003c\/h3\u003e\n\u003cp\u003eHT8115-J6 features a \u003cstrong\u003e6:1 planetary gearbox\u003c\/strong\u003e for higher output speed, while HT8115-J9 uses a \u003cstrong\u003e9:1 gearbox\u003c\/strong\u003e to provide greater output torque for heavier robotic joints.\u003c\/p\u003e\n\u003ch3\u003eDoes the actuator support closed-loop control?\u003c\/h3\u003e\n\u003cp\u003eYes. The HT8115 integrates a high-resolution encoder and supports closed-loop torque, speed, and position control.\u003c\/p\u003e\n\u003ch3\u003eWhich communication interface is supported?\u003c\/h3\u003e\n\u003cp\u003eThe integrated driver uses \u003cstrong\u003eCAN Bus communication\u003c\/strong\u003e with MIT-compatible protocol.\u003c\/p\u003e\n\u003ch3\u003eIs the driver included?\u003c\/h3\u003e\n\u003cp\u003eTwo configurations are available:\u003c\/p\u003e\n\u003cul\u003e\n\u003cli\u003eMotor + Gearbox\u003c\/li\u003e\n\u003cli\u003eMotor + Gearbox + Encoder + Driver (CAN)\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003ch3\u003eWhat robots is HT8115 suitable for?\u003c\/h3\u003e\n\u003cp\u003eHumanoid robots, quadruped robots, robotic manipulators, collaborative robots, exoskeletons, and intelligent automation equipment.\u003c\/p\u003e","brand":"HAITAI","offers":[{"title":"HT8115-J6 Motor + Gearbox","offer_id":48087417487590,"sku":null,"price":585.0,"currency_code":"USD","in_stock":true},{"title":"HT8115-J6 Motor + Gearbox + Encoder + Driver (CAN)","offer_id":48087417520358,"sku":null,"price":678.0,"currency_code":"USD","in_stock":true},{"title":"HT8115-J9 Motor + Gearbox","offer_id":48087417553126,"sku":null,"price":630.0,"currency_code":"USD","in_stock":true},{"title":"HT8115-J9 Motor + Gearbox + Encoder + Driver (CAN)","offer_id":48087417585894,"sku":null,"price":735.0,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0686\/0954\/0326\/files\/ht8115-robot-joint-actuator-main_webp.jpg?v=1785400378","url":"https:\/\/robotdoo.com\/products\/haitai-ht8115-robot-joint-actuator","provider":"RobotDoo","version":"1.0","type":"link"}