ENCOS (Nanjing Encos Intelligent Technology) EC-A series integrated joint module with two-stage planetary (ratio 23.625) with hollow-shaft cable routing: 100 N m rated / 320 N m peak torque, 235rpm peak speed, Φ106 × 87mm（A ）/ 84mm（B ）, 1690g（A ）/ 1645g（B ）. About 320 n m peak (estimated) with 235 rpm high speed, aimed at high-load high-dynamics joints such as humanoid hips; a/b variants are different-thickness versions with power connectors.
COMPONENT
ENCOS (Nanjing Encos Intelligent Technology) EC-A series integrated joint module with single-stage planetary (ratio 18) with hollow-shaft cable routing: 40 N·m rated / 130 N·m peak torque, 140rpm peak speed, Φ105 × 57mm, 968g. Hollow shaft for cable routing with higher torque than the 8112, suited to hip and shoulder joints of humanoid robots.
ENCOS (Nanjing Encos Intelligent Technology) EC-A series integrated joint module with single-stage planetary (ratio 18) with hollow-shaft cable routing: 30 N·m rated / 90 N·m peak torque, 157rpm peak speed, Φ105 × 53mm, 883g. Hollow shaft for cable routing and high speed, suited to shoulder/hip joints requiring internal wiring.
ENCOS (Nanjing Encos Intelligent Technology) EC-A series integrated joint module with single-stage planetary (ratio 12.67): 110 N·m rated / 320 N·m peak torque, 135rpm peak speed, Φ170 × 73mm, 2695g. 170 mm large diameter with 320 n·m peak torque, aimed at high-load joints such as humanoid hips.
ENCOS (Nanjing Encos Intelligent Technology) EC-A series integrated joint module with single-stage planetary (ratio 12): 50 N·m rated / 150 N·m peak torque, 140rpm peak speed, Φ124 × 60mm, 1373g. Large-diameter high-speed, suited to fast-swinging joints such as hips and shoulders of humanoid robots.
ENCOS (Nanjing Encos Intelligent Technology) EC-A series integrated joint module with size-20 harmonic drive (ratio 100): 40 N·m rated / 130 N·m peak torque, 47rpm peak speed, Φ73 × 84mm, 906g. Low-speed high-precision high-torque, suited to high-load precision joints such as hips and knees of humanoid robots.
ENCOS (Nanjing Encos Intelligent Technology) EC-A series integrated joint module with size-17 harmonic drive (ratio 100): 30 N·m rated / 90 N·m peak torque, 38rpm peak speed, Φ63 × 81.5mm, 630g. Low-speed high-precision, suited to medium-load precision joints such as elbows and shoulders of humanoid robots.
ENCOS (Nanjing Encos Intelligent Technology) EC-A series integrated joint module with size-14 harmonic drive (ratio 107): 20 N·m rated / 60 N·m peak torque, 52rpm peak speed, Φ53 × 78.5mm, 434g. Low-speed high-precision large reduction, suited to wrists, necks and other precision joints of humanoid robots.
ENCOS (Nanjing Encos Intelligent Technology) EC-A series integrated joint module with two-stage planetary (ratio 25): 40 N·m rated / 120 N·m peak torque, 120rpm peak speed, Φ88 × 67.5mm, 805g. Medium-torque relatively-high-speed joints such as elbows, knees and shoulders of humanoid robots.
ENCOS (Nanjing Encos Intelligent Technology) EC-A series integrated joint module with two-stage planetary (ratio 36): 25 N·m rated / 75 N·m peak torque, 117rpm peak speed, Φ56 × 69.5mm, 485g. Low-torque high-speed joints such as wrists, ankles and small joints of humanoid robots.
