Robot-joint transmissionFinemotion
Start with the joint load.
Finemotion develops precision cycloidal and harmonic reducers in Yuhuan, Zhejiang. For a robot joint, selecting an SHPR unit means matching the rotation arrangement, speed-dependent torque and external load—not simply choosing a reduction ratio.
Choose the architecture before the frame.
The manufacturer's product introduction separates cycloidal planetary reduction and harmonic transmission. These are different mechanisms; an application label alone does not establish interchangeability.
Two-stage cycloidal planetary mechanism
The official description explains a planetary first stage driving crankshafts and an eccentric cycloidal second stage.
Which input gearing and complete assembly does the supplied unit include?
Compare the selected frame at its operating speed
The SHPR-20E table distinguishes shaft rotation from housing rotation and gives output torque at nine speeds.
Which member rotates, and which drawing fixes the input/output relationship?
Read the 20E example →Flexible-element transmission
The official introduction describes motion transmitted through controlled elastic deformation of a flexible element.
Request the exact harmonic model's mounting, load-cycle and accuracy data. SHPR-20E values belong to the cycloidal unit.
Drive torque is only one part of a joint load.
A payload acting away from the joint produces an external moment as well as drive torque. The SHPR-20E table lists these separately.
Rotation load
- Start-stop allowable torque
- 412 Nm
- Instantaneous maximum allowable torque
- 833 Nm
- Torsional rigidity
- 49 Nm/arcmin
- Lost motion / backlash entry
- 1 arcmin
Neither 412 Nm nor 833 Nm replaces the speed-dependent working values above. Include the duration and repetition of acceleration, braking and emergency events.
External support load
- Allowable moment
- 882 Nm
- Instantaneous maximum allowable moment
- 1,764 Nm
- Tilting rigidity
- 372 Nm/arcmin
- Allowable axial load
- 3,920 N
Send axial force, load offsets, joint orientation and motion history. Ask for the method for combined loads and bearing life; these individual limits do not establish a simultaneous-load envelope.
Values above are the manufacturer's SHPR-20E entries. Backlash, tilting rigidity and torsional rigidity answer different questions. Define accuracy acceptance at the tool or workpiece under the intended load.
Company & manufacturing
A development team is not a company founding date.
The official history places the reducer development team in 2013, company establishment in May 2020 and the joint-stock founding meeting in August 2023. Keep these milestones separate when reviewing supplier experience.
The R&D and production page describes a 20,000 m² temperature-controlled machining workshop, assembly lines, material analysis, heat-treatment testing, strength/life testing and complete-unit performance testing. These are manufacturer-published capabilities, not proof of a test performed on a particular delivered reducer.
For a purchase order, request the inspection plan for the selected assembly: critical fits and mating dimensions, gear and bearing traceability, the agreed lost-motion test, run-in conditions and a unit-linked acceptance record. For a repeated production order, agree how drawing revisions and serial or batch identifiers are maintained.
A 2025 Zhejiang provincial economic-information report names 浙江环动机器人关节科技股份有限公司 in the Yuhuan manufacturing context. That independently supports the company identity; it does not certify the SHPR-20E performance table.
Your robot-joint brief
Send the joint geometry with the load cycle.
A useful request gives the supplier enough information to check the reducer, output support and motor interface together.
Save Finemotion to include this manufacturer in your request.- Axis function, payload and center of gravity; show force directions and offsets on a joint sketch.
- Which member rotates: shaft or housing; required ratio and the selected SHPR frame.
- Output speed and motion cycle; working torque, starts/stops and emergency events with durations and frequency.
- Motor and input gearing drawing, output flange, supporting housing, bearing arrangement and cable-routing space.
- Positioning requirement at the tool, test load, approach direction and temperature; lubrication and installation orientation.
- Quantity, complete supplied-component boundary, revision-controlled drawings and the agreed unit acceptance records.
Sources & review
Engineering figures are published by Finemotion for SHPR-20E. Procurement guidance is editorial analysis. Reviewed 8 October 2026.
- Finemotion · product introduction ↗SHPR-C/E architecture and harmonic transmission; application descriptions are not customer case studies.
- Finemotion · SHPR-20E table ↗Output-speed points, shaft/housing ratios, torque, moment, rigidity and axial-load entries for this model.
- Finemotion · R&D and production ↗Manufacturer's stated workshop, processes and testing capabilities.
- Finemotion · company and history ↗Current company name, location and distinct development/company milestones.
- Zhejiang Provincial Economic Information Center · 31 March 2025 ↗Independent company-name context; not a product test or certification.
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