Practical guides to choosing and importing actuators and robot joints.
Guide
How to choose a robot joint actuator
Peak versus rated torque, gear ratio and backdrivability, bus voltage, communication and encoders: what matters when you pick joints for a legged robot or…
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Quasi-direct drive or high ratio? Picking a joint’s gearing
Why legged robots use 6:1 to 10:1 joints and arms use 30:1 and up: backdrivability, reflected inertia, stiffness and holding torque explained.
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CAN, CAN FD, EtherCAT or RS485: talking to robot joints
How much bandwidth a robot needs, when one CAN bus is enough, and what to check in a joint's protocol before you buy.
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Sizing joint torque for a legged robot
A worked example: estimate static knee torque from mass and leg geometry, add a dynamic margin, then pick peak and rated torque.
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Building a custom joint with frameless torque motors
What a frameless motor includes, what you must add, inrunner versus outrunner, and how to read KV and torque figures.
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