7-Axis Humanoid Robotic Arm

As one of the core execution components for embodied intelligence, Huayan’s 7-axis humanoid robotic arms provide an efficient integration solution for quadruped, humanoid, and other embodied robotic platforms. Currently available in the Echo and HY series, the lineup includes six models with payload ranging from 3 kg to 15 kg, suitable for a wide range of complex production scenarios.

Full-Joint Force Control
Intelligent
Lightweight Design
Large Hollow Design
Two Wrist Configurations
Open ecosystem
Low Noise Performance

Faster Integration

Supports SDK, native ROS2, and open protocols.

One Controller, Multiple Arms

A single controller can operate up to
four humanoid robotic arms simultaneously

One Controller, Multiple Arms

A single controller can operate up to
four humanoid robotic arms simultaneously

High-Precision Full-Joint Force Control

Force control accuracy reaches ≤0.02 N·m, with a control bandwidth of ≥100 Hz and end-effector contact force accuracy of 0.1N. It can continuously perceive subtle external forces and achieve millisecond-level compliant response.
Compact Form, Powerful Performance

With a lightweight design, it enables stable operation across various embodied platforms, including quadruped and humanoid robots.
Large Hollow Design

Minimum internal routing diameter of 15mm, supports simultaneous routing of Gigabit Ether/GMSL cables, power cables, and signal cables
More Than a Tool
— An Intelligent Partner

Integrated with a local AI server and natively compatible with ROS2, the system features edge decision-making capabilities. It can autonomously detect deviations, identify anomalies, and adjust trajectories in real time.
One Controller, Multiple Arms
Ultra-Compact Design

A single controller can operate up to four humanoid robotic arms. Featuring an ultra-compact design, it saves space, simplifies integration, and is better suited for the compact structure of humanoid robots.
Echo Series
Coplanar Cross-Axis Configuration

With a 7-axis design and coplanar cross-axis configuration, the arm delivers human-like flexibility, smooth obstacle avoidance in confined spaces, and precise execution of delicate, complex tasks.

Echo 3

Dexterous Pioneer

Echo 5

Efficiency Performer

Echo 15

Performance Benchmark
HY Series
Spatial Cross Configuration

The spatial cross-axis configuration delivers a larger workspace, reduced singularity risk, and higher structural rigidity.

HY 3

Precision Performer

HY 7

All-Round Performer

HY 15

Heavy-Payload Performer

PRODUCT PARAMETERS


Model	Echo 3	Echo 5	Echo 15	HY 3	HY 7	HY 15
Degree of Freedom	7	7	7	7	7	7
Rated Payload	3kg	5kg	15kg	3.5kg	7kg	15kg
Repeatability	±0.02mm	±0.03mm	±0.05mm	±0.02mm	±0.03mm	±0.05mm
Absolute Positioning Accuracy	±0.4mm	±0.6mm	±0.8mm	±0.4mm	±0.6mm	±0.8mm
Arm Configuration	Coplanar Cross-Axis			Spatical Cross-Axis
Weight	<8KG	<12KG	<22KG	<8KG	<12KG	<22KG
Arm Reach	555 mm	605 mm	900 mm	625 mm	670mm	850 mm
Max TCP Speed	≥2m/s	≥2m/s	≥2m/s	≥2m/s	≥2m/s	≥2m/s
Joint Range	J1、J3、J5：±180° J2：±120° J4：-90° - 135° J6：±120° J7：±90°	J1、J3、J5：±180° J2：±120° J4：-90° - 135° J6：±60° J7：±90°	J1、J3、J5：±180° J2：±120° J4：-90° - 135° J6：±60° J7：±90°	J1、J3、J5：±180° J4：-110° - +45° J2、J6、J7：±90°	J1、J3、J5：±180° J4：-110° - +45° J2、J6、J7：±90°	J1、J3、J5：±180° J4：-110° - +45° J6：±60° J2、J7：±90°
End-Effector Camera (Optional)	Internal Cable Routing, No Exposed Wiring
End-Effector Interface	SupportsRS485、EtherCAT
Communication	EtherCAT
Torque Sensor	Standard on All Joints
Brake Control Method	Standard on All Joints
Power Supply	48V DC(±15%)
Noise Level	≤45 dB
IP Rating	IP54
Certifications	CECertified、ISO/TS15066，13849-1PLd(Cat.3)，ENISO12100:2010

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