In 2006, he worked as a voice director on Pet Alien. In 2007, he replaced Neil Flynn as the voice of The Plumber in Ratchet & Clank Future: Tools of Destruction and Ratchet & Clank Future: A Crack in Time. He also voiced the Smuggler in that popular series. In that same year, Harnell voiced the characters of Ironhide and Barricade in the Michael Bay-directed Transformers, making him the only voice actor to play both an Autobot (Ironhide) and a Decepticon (Barricade) in that film. He returned to voice Ironhide once again in Transformers: Revenge of the Fallen and Transformers: Dark of the Moon as well as Barricade in Transformers: The Last Knight. Harnell voiced a character in Up and replaced Brad Garrett as the voice of Professor Buffo in Special Agent Oso. He also voiced Flip Wreck, Blast Zone and Bucko in the Skylanders reboot of the franchise and Cowardly Lion and Reegull in Lego Dimensions. Harnell also provided the voice and singing voice of Cedric the Sorcerer from Sofia the First from 2013 to 2018.

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