Xynova PR21-100-140-HS Rotary Actuator
In stock
- BRAND:
- XYNOVA
- MODEL:
- PR21-100-140-HS
- ORIGIN:
- China
- Warranty:
- 12 MONTHS
- AVAILABILITY:
- SUBJECT TO AVAILABILITY
- SKU:
- Xynova-PR21-100-140-HS
Xynova PR21-100-140-HS Rotary Actuator
The hips and knees of a humanoid get the headlines, but the shoulders and elbows do most of the moving. They reach, lift, wave, carry and reposition hundreds of times a day, and each motion needs a joint that is quick, strong enough for the load at the end of the arm, and light enough not to slow the whole limb down. The Xynova PR21-100-140-HS is built for that kind of everyday work: 140 Nm of peak torque and 130 rpm of output speed in a 1.2 kg module.
Key Features
140 Nm in a 1.2 kg Package
The PR21-100-140-HS delivers 140 Nm of peak torque at a torque density of 117 Nm/kg. That is enough headroom for a humanoid shoulder lifting an extended arm with a payload, or an elbow handling sudden loads, while keeping limb mass under control.
Fast Output for Upper Body Motion
With a 21:1 planetary reduction and a no load speed of 130 rpm, the module moves roughly three times faster than Xynova's high torque leg joints. That speed supports natural, responsive arm motion, from reaching to quick repositioning.
In House Planetary Gearbox
Xynova develops its planetary gearboxes for high burst motion, using an optimized tooth profile and load balanced gear design that the company says improves load capacity while reducing vibration and noise.
Precise Feedback and Control
A 16 bit encoder supports repeatability of 0.1° or better. Xynova's decoupled adaptive control architecture, AI driven parameter tuning and in house position encoding method are designed to balance fast dynamic response with steady state accuracy.
Thermal Design and Validation
According to Xynova, the series uses electromagnetic and thermal co optimization, a proprietary winding process and integrated cooling channels to sustain torque output, with designs validated through extensive CAE simulation and fatigue testing.
Xynova PR21-100-140-HS Specifications
| Specification | PR21-100-140-HS |
|---|---|
| Type | Planetary joint module |
| Input voltage | 48 V |
| Peak torque | 140 Nm |
| No load speed | 130 rpm |
| Gear ratio | 21:1 |
| Torque density | 117 Nm/kg |
| Weight | 1.2 kg |
| Size | Ø100 x 61.7 mm |
| Encoder resolution | 16 bit |
| Repeatability | ≤0.1° |
PR21 vs PR20: Choosing a Mid Range Joint
| Feature | PR21-100-140-HS | PR20-102-130-HS |
|---|---|---|
| Peak torque | 140 Nm | 130 Nm |
| No load speed | 130 rpm | 150 rpm |
| Gear ratio | 21:1 | 20:1 |
| Weight | 1.2 kg | 1.2 kg |
| Size | Ø100 x 61.7 mm | Ø102 x 59 mm |
| Encoder | 16 bit | 17 bit |
| Repeatability | ≤0.1° | ≤0.1° |
The two modules weigh the same. The PR21 offers about 8 percent more torque, while the PR20 is about 15 percent faster and carries a higher resolution encoder. Choose the PR21 when load is the deciding factor and the PR20 when speed or feedback resolution matters more.
The Full Xynova Planetary Range
| Model | Peak torque | No load speed | Weight | Typical role |
|---|---|---|---|---|
| PRH19-57-25-HS | 25 Nm | 156 rpm | 0.4 kg | Wrists, small arm joints |
| PR20-102-130-HS | 130 Nm | 150 rpm | 1.2 kg | Shoulders, elbows |
| PR21-100-140-HS | 140 Nm | 130 rpm | 1.2 kg | Loaded shoulders, elbows |
| PR64-110-500 | 500 Nm | 45 rpm | 1.6 kg | Hips, knees |
| PR43-120-600-HB | 600 Nm | 32 rpm | 4.3 kg | Heaviest load joints |
Applications
- Humanoid shoulders: lifting and holding an extended arm with tools or payloads.
- Elbow joints: fast flexion with enough torque for carrying objects.
- Neck and waist yaw joints: quick rotation with moderate load.
- Collaborative and service robot arms: compact, integrated joints for mid payload arms.
- Small legged robots: hip or knee joints on lighter quadruped or bipedal platforms.
Who Should Buy the PR21-100-140-HS?
Buy this module if your joint needs more than 130 Nm of peak torque, must move faster than a leg actuator, and has to stay around 1 kg. It suits humanoid developers sizing upper body joints, arm builders working with mid range payloads, and researchers designing lighter legged robots.
Which Should You Buy?
| If you need... | Choose |
|---|---|
| The most torque in a 1.2 kg mid range joint | PR21-100-140-HS |
| Higher speed and a 17 bit encoder at similar weight | PR20-102-130-HS |
| A small wrist or forearm joint | PRH19-57-25-HS |
| High torque leg joints | PR64-110-500 or PR43-120-600-HB |
Before You Buy
- Calculate the arm load: work out the torque at the shoulder or elbow with the arm fully extended and carrying its maximum payload.
- Ask for continuous torque: Xynova publishes peak torque only, so request rated continuous torque and duty cycle data.
- Check speed under load: 130 rpm is a no load figure; confirm the speed your motion profile needs at working torque.
- Plan wiring and power: budget 48 V supply and current for every joint in the limb, and confirm the communication interface.
- Confirm the HS variant: ask what the "HS" suffix includes before ordering.
- Quote complete limbs: request pricing for every joint in the arm or leg together.
Pricing and Availability
The Xynova PR21-100-140-HS is sold by quote. Add it to your quote from this page with your quantity, and our team will reply with current price, cost details and lead time. The module carries a 12 month warranty, and availability depends on production allocation.
Frequently Asked Questions
How much torque does the Xynova PR21-100-140-HS produce?
The PR21-100-140-HS delivers 140 Nm of peak torque.
How fast is the PR21-100-140-HS?
It has a no load output speed of 130 rpm through a 21:1 planetary gearbox.
How much does the PR21-100-140-HS weigh?
The module weighs 1.2 kg and measures Ø100 x 61.7 mm.
What is the difference between the PR21-100-140-HS and PR20-102-130-HS?
Both weigh 1.2 kg. The PR21 offers more torque (140 Nm vs 130 Nm), while the PR20 is faster (150 rpm vs 130 rpm) and has a 17 bit encoder instead of 16 bit.
What voltage does the PR21-100-140-HS use?
It runs on a 48 V input.
How much does the Xynova PR21-100-140-HS cost?
Pricing is by quote. Request a quote on this page for current price and cost for your quantity.
Where can I buy the Xynova PR21-100-140-HS?
You can buy it right here on this page. Add it to your quote and our team will follow up with pricing and availability.
Summary
The Xynova PR21-100-140-HS delivers 140 Nm of peak torque and 130 rpm in a 1.2 kg integrated joint, making it the strongest mid range module in the Xynova lineup. For humanoid shoulders, elbows and other frequently moving joints that carry real loads, it is a practical choice. If you are ready to buy joint modules for your next robot, request a quote on this page for current price and availability.
