Harmonic Drive SHA20A Hollow-Shaft Rotary Actuator (CG, 1:100)
Harmonic Drive · MPN SHA20A (CG type, ratio 100) · Maglev ID ac-harmonicdrive-sha20a-100
JP Maker in Japan, factory not confirmed unknown VERIFIED
Western benchmark hollow-shaft servo actuator (CSG strain-wave gear + motor + absolute encoder) for precision arms; AC servo paired with the HA-800 drive.
Specifications
| Peak torque | 107 N·m max |
|---|---|
| Rated torque | 43 N·m allowable continuous (on 350x350x18 mm Al plate) |
| Gear ratio | 100:1 strain-wave |
| Voltage | AC servo; ratings with HA-800 drive (48 VDC version exists as SHA-20A integrated) |
| Mass | 2.6 kg without brake |
| Interface | Via HA-800 servo drive; integrated-drive SHA-20A offers CANopen or EtherCAT |
| Encoder | 17-bit magnetic absolute, 16-bit multi-turn counter |
Who makes it
MakerHarmonic Drive Systems (JP); US arm Harmonic Drive LLC, Beverly MA
Based inJapan
RoleBrand owner
Need a different shaft, connector, firmware or enclosure, or a price at 1,000 units? Maglev takes the catalog part to the factory and comes back with a custom version and one fixed price.
Landed cost in the US
CN
41.5%
TW
10%
VN
16.5%
IN
14%
JP
12.5%
KR
12.5%
DE
10%
MX
14%
US
0%
Total US duty on this part by where it is made (2026-10-29). Mexico shown before USMCA preference; qualifying goods enter duty free. Your factory choice, not the shipping port, sets the origin.
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Compliance
| HTS classification | 8501.31.40.00 typical, not a ruling |
|---|---|
| NDAA | unknown |
| Blue UAS | unknown |
| FCC | n/a |
| Notes | Integrated-drive SHA-20A (48 VDC) lists 68-120 N·m max, 16-48 N·m continuous, 2.1 kg across ratios 51-161. |
Equivalents from other makers
Sources
- https://www.harmonicdrive.net/_hd/content/documents/SHACG_20A_spec.pdfCG-type spec table (max/continuous torque, encoder, mass)
- https://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-driveintegrated-drive variant ranges, interfaces, CAD paths; price on request
Record confidence: VERIFIED. VERIFIED means the maker's own documents; REPORTED means a credible third party; UNVERIFIED means a single weak source. Anything we could not confirm says unknown.