Joint Actuator
AssemblyA quasi-direct-drive module pairing a high-torque BLDC motor with a single-stage planetary reduction for backdrivable torque control. A full specification article for this item is being written. Meanwhile its bill of materials and connections are below.
Bill of materials for Joint Actuator
8 top-level lines as of r135079| # | Item / sub-assembly | Part no. | Qty/assy | Ext. qty | Parts | Type |
|---|---|---|---|---|---|---|
| 1 | Stator Assembly 3 parts | stator-assembly | 1× | 1 | 0 | assembly |
| 2 | Rotor Assembly 4 parts | rotor-assembly | 1× | 1 | 0 | assembly |
| 3 | Neodymium Magnet | neodymium-magnet | 28× | 28 | · | part |
| 4 | Planetary Gearset 4 parts | quadruped-robot-planetary-gearset | 1× | 1 | 0 | assembly |
| 5 | Motor Housing | motor-housing | 1× | 1 | · | part |
| 6 | Ball Bearing | ball-bearing | 2× | 2 | · | part |
| 7 | Encoder | encoder | 2× | 2 | · | part |
| 8 | Actuator Driver Board 5 parts | quadruped-robot-actuator-driver | 1× | 1 | 0 | assembly |