{
 "id": "ac-harmonicdrive-sha32a-101-integrated",
 "name": "Harmonic Drive SHA-32A Integrated Servo Actuator (1:101)",
 "subcategory": "joint-actuators",
 "brand": "Harmonic Drive",
 "mpn": "unknown",
 "summary": "Western benchmark: largest SHA integrated hollow-shaft actuator with Harmonic Drive SG gearing, integrated servo drive and dual absolute encoders, for robot-arm bases. 48 V, no-brake version; full order code to be confirmed with the maker.",
 "maker": {
  "name": "Harmonic Drive LLC (US) / Harmonic Drive Systems (JP)",
  "country": "US",
  "role": "brand"
 },
 "made_in": "unknown",
 "specs": {
  "peak_torque_nm": {
   "label": "Peak torque",
   "value": "298 N·m max",
   "num": 298,
   "unit": "N·m"
  },
  "rated_torque_nm": {
   "label": "Rated torque",
   "value": "77 N·m continuous (with 320x320x16 mm Al heatsink)",
   "num": 77,
   "unit": "N·m"
  },
  "ratio": {
   "label": "Gear ratio",
   "value": "101:1 harmonic (also 51/81/121/161)",
   "num": 101
  },
  "voltage_v": {
   "label": "Voltage",
   "value": "48 VDC (24-60 V)",
   "num": 48,
   "unit": "V"
  },
  "mass_g": {
   "label": "Mass",
   "value": "6.3 kg (PM1 axial exit); 6.4 kg (PM4)",
   "num": 6300,
   "unit": "g"
  },
  "interface": {
   "label": "Interface",
   "value": "CAN, CANopen (DS301/DS402) or EtherCAT option",
   "num": null
  }
 },
 "price": [],
 "moq": "unknown",
 "lead_time": "unknown",
 "hts": "unknown",
 "compliance": {
  "ndaa": "unknown",
  "blue_uas": "unknown",
  "fcc": "n/a",
  "notes": "MPN built from the ordering code on the maker page (size 32, ratio 101, SG gear, motor 12, A = no brake, LV 48 V, IDT encoders); confirm full code with Harmonic Drive. Price by quote; no stock state."
 },
 "links": {
  "product": "https://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive",
  "datasheet": "https://www.harmonicdrive.net/_hd/Content/catalogs/pdf/SHA-Integrated-Brochure.pdf",
  "cad": null
 },
 "equivalents": [
  "ac-myactuator-rh-32-100-e-n-d"
 ],
 "pairs_with": [],
 "maglev": {
  "custom": "",
  "directory_ref": null
 },
 "sources": [
  {
   "url": "https://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive",
   "what": "spec table + ordering code"
  }
 ],
 "confidence": "VERIFIED",
 "stock": {
  "status": "unknown",
  "source": "https://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive",
  "as_of": "2026-10-30"
 },
 "category": "actuators",
 "subcategory_title": "Integrated Joint Actuators",
 "icon": "driver",
 "origin": {
  "code": "US",
  "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-sha32a-101-integrated/",
 "markdown": "https://parts.trymaglev.com/p/ac-harmonicdrive-sha32a-101-integrated/index.md",
 "equivalents_detail": [
  {
   "id": "ac-myactuator-rh-32-100-e-n-d",
   "name": "MyActuator RH-32-100 Hollow Harmonic Actuator (no brake)",
   "brand": "MyActuator",
   "mpn": "RH-32-100-E-N-D",
   "category": "actuators",
   "subcategory": "joint-actuators",
   "summary": "Largest RH hollow-shaft harmonic actuator, 100:1, dual encoder, for robot-arm bases and humanoid hips needing 150 N·m continuous.",
   "origin": "CN",
   "origin_basis": "hq",
   "price_usd": 2590,
   "price_qty": 1,
   "ndaa": "unknown",
   "blue_uas": "unknown",
   "image": "https://parts.trymaglev.com/img/ac-myactuator-rh-32-100-e-n-d.webp",
   "url": "https://parts.trymaglev.com/p/ac-myactuator-rh-32-100-e-n-d/",
   "json": "https://parts.trymaglev.com/api/parts/ac-myactuator-rh-32-100-e-n-d.json"
  }
 ],
 "pairs_with_detail": []
}