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Leg

Assembly

Six-DoF leg with high-torque hip, knee, and ankle actuators. A full specification article for this item is being written. Meanwhile its bill of materials and connections are below.

Leg parts and their functions

5 top-level parts · 456 parts in total · full bill of materials below
Leg parts diagram: 1 hip actuator, 2 knee actuator, 3 ankle actuator, 4 leg link, 5 fastener set. 456 parts in 5 top-level items.
Leg parts diagram. Numbers match the table below; each box is one top-level part or assembly with what it contains.
#PartQtyWhat it does
1 Hip Actuator 6 parts 1× 3-DoF hip drive
2 Knee Actuator 6 parts 1× Knee drive
3 Ankle Actuator 6 parts 1× Ankle drive
4 Leg Link 2× Thigh + shank links
5 Fastener Set 1× Bolts, nuts, and washers.

3D model

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Build & assembly graph

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Bill of materials for Leg

5 top-level lines · 58 rows shown · 456 parts total · indented to 3 levels
# Item / sub-assembly Part no. Qty/assy Ext. qty Parts Type
1 Hip Actuator 6 parts humanoid-robot-hip-actuator 1× 1 151 assembly
1.1 Frameless BLDC Motor 5 parts humanoid-robot-frameless-motor 1× 1 50 assembly
1.1.1 Stator Assembly 3 parts + deeper › stator-assembly 1× 1 3 assembly
1.1.2 Rotor Assembly 4 parts + deeper › rotor-assembly 1× 1 19 assembly
1.1.3 Neodymium Magnet neodymium-magnet 24× 24 · part
1.1.4 Copper Winding copper-winding 1× 1 · part
1.1.5 Hall Sensor hall-sensor 3× 3 · part
1.2 Planetary Reducer 3 parts humanoid-robot-planetary-reducer 1× 1 4 assembly
1.2.1 Helical Gear Pair gear-pair 1× 1 · part
1.2.2 Ring Gear humanoid-robot-ring-gear 1× 1 · part
1.2.3 Ball Bearing ball-bearing 2× 2 · part
1.3 Encoder encoder 2× 2 · part
1.4 Gate Driver Board 3 parts gate-driver-board 1× 1 87 assembly
1.4.1 Bare PCB pcb-bare 1× 1 · part
1.4.2 Gate Driver IC gate-driver-ic 6× 6 · part
1.4.3 SMD Passive (R/C/L) smd-passives 80× 80 · part
1.5 Power MOSFET mosfet 6× 6 · part
1.6 Ball Bearing ball-bearing 2× 2 · part
2 Knee Actuator 6 parts humanoid-robot-knee-actuator 1× 1 151 assembly
2.1 Frameless BLDC Motor 5 parts humanoid-robot-frameless-motor 1× 1 50 assembly
2.1.1 Stator Assembly 3 parts + deeper › stator-assembly 1× 1 3 assembly
2.1.2 Rotor Assembly 4 parts + deeper › rotor-assembly 1× 1 19 assembly
2.1.3 Neodymium Magnet neodymium-magnet 24× 24 · part
2.1.4 Copper Winding copper-winding 1× 1 · part
2.1.5 Hall Sensor hall-sensor 3× 3 · part
2.2 Harmonic Reducer 4 parts humanoid-robot-harmonic-reducer 1× 1 4 assembly
2.2.1 Wave Generator humanoid-robot-wave-generator 1× 1 · part
2.2.2 Flexspline humanoid-robot-flexspline 1× 1 · part
2.2.3 Circular Spline humanoid-robot-circular-spline 1× 1 · part
2.2.4 Ball Bearing ball-bearing 1× 1 · part
2.3 Encoder encoder 2× 2 · part
2.4 Gate Driver Board 3 parts gate-driver-board 1× 1 87 assembly
2.4.1 Bare PCB pcb-bare 1× 1 · part
2.4.2 Gate Driver IC gate-driver-ic 6× 6 · part
2.4.3 SMD Passive (R/C/L) smd-passives 80× 80 · part
2.5 Power MOSFET mosfet 6× 6 · part
2.6 Ball Bearing ball-bearing 2× 2 · part
3 Ankle Actuator 6 parts humanoid-robot-ankle-actuator 1× 1 151 assembly
3.1 Frameless BLDC Motor 5 parts humanoid-robot-frameless-motor 1× 1 50 assembly
3.1.1 Stator Assembly 3 parts + deeper › stator-assembly 1× 1 3 assembly
3.1.2 Rotor Assembly 4 parts + deeper › rotor-assembly 1× 1 19 assembly
3.1.3 Neodymium Magnet neodymium-magnet 24× 24 · part
3.1.4 Copper Winding copper-winding 1× 1 · part
3.1.5 Hall Sensor hall-sensor 3× 3 · part
3.2 Harmonic Reducer 4 parts humanoid-robot-harmonic-reducer 1× 1 4 assembly
3.2.1 Wave Generator humanoid-robot-wave-generator 1× 1 · part
3.2.2 Flexspline humanoid-robot-flexspline 1× 1 · part
3.2.3 Circular Spline humanoid-robot-circular-spline 1× 1 · part
3.2.4 Ball Bearing ball-bearing 1× 1 · part
3.3 Encoder encoder 2× 2 · part
3.4 Gate Driver Board 3 parts gate-driver-board 1× 1 87 assembly
3.4.1 Bare PCB pcb-bare 1× 1 · part
3.4.2 Gate Driver IC gate-driver-ic 6× 6 · part
3.4.3 SMD Passive (R/C/L) smd-passives 80× 80 · part
3.5 Power MOSFET mosfet 6× 6 · part
3.6 Ball Bearing ball-bearing 2× 2 · part
4 Leg Link humanoid-robot-leg-link 2× 2 · part
5 Fastener Set fastener-set 1× 1 · part

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Where the leg is used

1 product across 1 domain contain it, directly or inside a sub-assembly

Used in 1 assembly

Humanoid Robot

Sourcing: possible vendors

Browse the supplier directory → Prices, MOQ, and lead times are algorithmic estimates, not quotes, and not claims about these companies. Company mappings are curated by keyword; est. price band $0.50–$100. How estimates work
VendorHQSpecialtyMOQLead time
🇨🇳Foxconn
foxconn.com ↗ 		Shenzhen, CN Electronics contract mfg 1,000 pcs 6–10 wks
🇸🇬Flex (Singapore)
flex.com ↗ 		Singapore Electronics contract mfg 1,000 pcs 6–10 wks
🇮🇳Dixon Technologies
dixoninfo.com ↗ 		Noida, IN Electronics contract mfg 1,000 pcs 6–10 wks
🇨🇳BYD Electronics
bydelectronic.com ↗ 		Shenzhen, CN Electronics contract mfg 1,000 pcs 6–10 wks
🇸🇬Venture Corp
venture.com.sg ↗ 		Singapore Electronics contract mfg 1,000 pcs 6–10 wks