HA Series Humanoid Arm

by Zhidongli · Wuhan, Hubei (also Wuxi, Jiangsu) · HA series

7-DOF humanoid arms with 48 VDC, EtherCAT and impedance control (5 kg and 3 kg models), with ROS, Python and C++ development kits.

Key specs

Payload

5 kg11 lb

Reach

860 mm33.9 in

Axes

7

Weight

12 kg26 lb

Power

0.16 kW

Protection

IP40

2 models in this family

HA7R-5SHA7R-3N

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Full specifications

Model	HA7R-5S / HA7R-3N
Rated load (including end-effector)	5 kg / 3 kg
Self-weight (excluding end-effector)	12 kg / 6.5 kg
Maximum reach radius	860 mm / 795 mm
Degrees of freedom	7
Average power consumption	Approx. 160 W / 105 W
Secondary development	ROS SDK, Python API, C++ API
Teaching method	Drag teaching, remote teaching
Mounting flange	85 mm / 75 mm
Noise	≤52 dB (at 1 m)
Communication	EtherCAT
Supply voltage	48 VDC
Material	Aluminum alloy, nylon
Impedance control	Joint space and Cartesian space (HA7R-5S)
Force control (HA7R-5S)	Cartesian force-control error < 2 N
Repeatability (HA7R-5S)	±0.1 mm
Joint encoder	Dual encoder
Operating modes	CST, CSV, CSP, PP, PD
End-effector (optional)	7-DOF dexterous hand, gripper
Protection rating	IP40
Controller	RK3588, 8 GB RAM, 64 GB ROM, Wanghuo real-time Linux