{
 "id": "ac-harmonicdrive-sha20a-100",
 "name": "Harmonic Drive SHA20A Hollow-Shaft Rotary Actuator (CG, 1:100)",
 "subcategory": "joint-actuators",
 "brand": "Harmonic Drive",
 "mpn": "SHA20A (CG type, ratio 100)",
 "summary": "Western benchmark hollow-shaft servo actuator (CSG strain-wave gear + motor + absolute encoder) for precision arms; AC servo paired with the HA-800 drive.",
 "maker": {
  "name": "Harmonic Drive Systems (JP); US arm Harmonic Drive LLC, Beverly MA",
  "country": "JP",
  "role": "brand"
 },
 "made_in": "unknown",
 "specs": {
  "peak_torque_nm": {
   "label": "Peak torque",
   "value": "107 N·m max",
   "num": 107,
   "unit": "N·m"
  },
  "rated_torque_nm": {
   "label": "Rated torque",
   "value": "43 N·m allowable continuous (on 350x350x18 mm Al plate)",
   "num": 43,
   "unit": "N·m"
  },
  "ratio": {
   "label": "Gear ratio",
   "value": "100:1 strain-wave",
   "num": 100
  },
  "voltage_v": {
   "label": "Voltage",
   "value": "AC servo; ratings with HA-800 drive (48 VDC version exists as SHA-20A integrated)",
   "num": null,
   "unit": "V"
  },
  "mass_g": {
   "label": "Mass",
   "value": "2.6 kg without brake",
   "num": 2600,
   "unit": "g"
  },
  "interface": {
   "label": "Interface",
   "value": "Via HA-800 servo drive; integrated-drive SHA-20A offers CANopen or EtherCAT",
   "num": null
  },
  "encoder": {
   "label": "Encoder",
   "value": "17-bit magnetic absolute, 16-bit multi-turn counter",
   "num": null
  }
 },
 "price": [],
 "moq": "unknown",
 "lead_time": "unknown",
 "hts": "unknown",
 "compliance": {
  "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."
 },
 "links": {
  "product": "https://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive",
  "datasheet": "https://www.harmonicdrive.net/_hd/content/documents/SHACG_20A_spec.pdf",
  "cad": "https://www.harmonicdrive.net/downloads/stp-files/sha-integrated-actuators"
 },
 "equivalents": [
  "ac-zeroerr-erob70f-100",
  "ac-myactuator-rh-20-100-e-n-d",
  "ac-harmonicdrive-sha25a-101-integrated"
 ],
 "pairs_with": [
  "ac-harmonicdrive-csf-17-100-2uh"
 ],
 "maglev": {
  "custom": "",
  "directory_ref": null
 },
 "sources": [
  {
   "url": "https://www.harmonicdrive.net/_hd/content/documents/SHACG_20A_spec.pdf",
   "what": "CG-type spec table (max/continuous torque, encoder, mass)"
  },
  {
   "url": "https://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive",
   "what": "integrated-drive variant ranges, interfaces, CAD paths; price on request"
  }
 ],
 "confidence": "VERIFIED",
 "category": "actuators",
 "subcategory_title": "Integrated Joint Actuators",
 "icon": "driver",
 "image": {
  "url": "https://parts.trymaglev.com/img/ac-harmonicdrive-sha20a-100.webp",
  "thumb": "https://parts.trymaglev.com/img/t/ac-harmonicdrive-sha20a-100.webp",
  "source_image": "https://www.harmonicdrive.net/_hd/Content/renderings/SHA-20A/360.0.jpg",
  "source_page": "https://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive",
  "background": "removed (Apple Vision)",
  "as_of": "2026-10-29"
 },
 "origin": {
  "code": "JP",
  "basis": "hq"
 },
 "hts_resolved": {
  "code": "8501.31.40.00",
  "typical": true,
  "key": "integrated-joint-actuators",
  "basis": "subcategory",
  "confidence": "low",
  "note": "No modern ruling found for a motor+reducer+driver+encoder robot joint. Treat as unresolved."
 },
 "us_duty_by_origin": {
  "as_of": "2026-10-29",
  "rates": [
   {
    "origin": "CN",
    "duty_pct": 41.5,
    "possible_pct": 0,
    "usmca": false
   },
   {
    "origin": "TW",
    "duty_pct": 10,
    "possible_pct": 0,
    "usmca": false
   },
   {
    "origin": "VN",
    "duty_pct": 16.5,
    "possible_pct": 0,
    "usmca": false
   },
   {
    "origin": "IN",
    "duty_pct": 14,
    "possible_pct": 0,
    "usmca": false
   },
   {
    "origin": "JP",
    "duty_pct": 12.5,
    "possible_pct": 0,
    "usmca": false
   },
   {
    "origin": "KR",
    "duty_pct": 12.5,
    "possible_pct": 0,
    "usmca": false
   },
   {
    "origin": "DE",
    "duty_pct": 10,
    "possible_pct": 0,
    "usmca": false
   },
   {
    "origin": "MX",
    "duty_pct": 14,
    "possible_pct": 0,
    "usmca": true
   },
   {
    "origin": "US",
    "duty_pct": 0,
    "possible_pct": 0,
    "usmca": false
   }
  ]
 },
 "url": "https://parts.trymaglev.com/p/ac-harmonicdrive-sha20a-100/",
 "markdown": "https://parts.trymaglev.com/p/ac-harmonicdrive-sha20a-100/index.md",
 "equivalents_detail": [
  {
   "id": "ac-zeroerr-erob70f-100",
   "name": "ZeroErr eRob70F Harmonic Rotary Actuator (100:1)",
   "brand": "ZeroErr",
   "mpn": "eRob70F (14-100 configuration; full order code to confirm)",
   "category": "actuators",
   "subcategory": "joint-actuators",
   "summary": "Integrated harmonic-drive joint (frameless motor, strain-wave gear, absolute encoders, EtherCAT/CANopen drive) for cobot-style arms needing near-zero backlash rather than backdrivability.",
   "origin": "CN",
   "origin_basis": "hq",
   "price_usd": null,
   "price_qty": null,
   "ndaa": "unknown",
   "blue_uas": "unknown",
   "image": "https://parts.trymaglev.com/img/ac-zeroerr-erob70f-100.webp",
   "url": "https://parts.trymaglev.com/p/ac-zeroerr-erob70f-100/",
   "json": "https://parts.trymaglev.com/api/parts/ac-zeroerr-erob70f-100.json"
  },
  {
   "id": "ac-myactuator-rh-20-100-e-n-d",
   "name": "MyActuator RH-20-100 Hollow Harmonic Actuator (no brake)",
   "brand": "MyActuator",
   "mpn": "RH-20-100-E-N-D",
   "category": "actuators",
   "subcategory": "joint-actuators",
   "summary": "Mid-size hollow-shaft harmonic actuator, 100:1, dual encoder, for cobot joints and humanoid shoulders; a Chinese alternative to Harmonic Drive SHA20.",
   "origin": "CN",
   "origin_basis": "hq",
   "price_usd": 1343,
   "price_qty": 1,
   "ndaa": "unknown",
   "blue_uas": "unknown",
   "image": "https://parts.trymaglev.com/img/ac-myactuator-rh-20-100-e-n-d.webp",
   "url": "https://parts.trymaglev.com/p/ac-myactuator-rh-20-100-e-n-d/",
   "json": "https://parts.trymaglev.com/api/parts/ac-myactuator-rh-20-100-e-n-d.json"
  },
  {
   "id": "ac-harmonicdrive-sha25a-101-integrated",
   "name": "Harmonic Drive SHA-25A Integrated Servo Actuator (1:101)",
   "brand": "Harmonic Drive",
   "mpn": "unknown",
   "category": "actuators",
   "subcategory": "joint-actuators",
   "summary": "Western benchmark: hollow-shaft Harmonic Drive SG gear actuator with integrated servo drive and dual absolute encoders, CANopen or EtherCAT, for cobots and precision joints. 48 V, no-brake version; full order code to be confirmed with the maker.",
   "origin": "US",
   "origin_basis": "hq",
   "price_usd": null,
   "price_qty": null,
   "ndaa": "unknown",
   "blue_uas": "unknown",
   "image": null,
   "url": "https://parts.trymaglev.com/p/ac-harmonicdrive-sha25a-101-integrated/",
   "json": "https://parts.trymaglev.com/api/parts/ac-harmonicdrive-sha25a-101-integrated.json"
  }
 ],
 "pairs_with_detail": [
  {
   "id": "ac-harmonicdrive-csf-17-100-2uh",
   "name": "Harmonic Drive CSF-17-100-2UH Strain-Wave Gear Unit",
   "brand": "Harmonic Drive",
   "mpn": "CSF-17-100-2UH",
   "category": "actuators",
   "subcategory": "strain-wave-reducers",
   "summary": "Size-17 100:1 zero-backlash strain-wave gear unit with integrated cross-roller output bearing; the incumbent reference that Chinese harmonic reducers are measured against.",
   "origin": "JP",
   "origin_basis": "hq",
   "price_usd": null,
   "price_qty": null,
   "ndaa": "unknown",
   "blue_uas": "unknown",
   "image": "https://parts.trymaglev.com/img/ac-harmonicdrive-csf-17-100-2uh.webp",
   "url": "https://parts.trymaglev.com/p/ac-harmonicdrive-csf-17-100-2uh/",
   "json": "https://parts.trymaglev.com/api/parts/ac-harmonicdrive-csf-17-100-2uh.json"
  }
 ]
}