Integrated Joint Modules
Size by peak torque for the worst-case pose, check rated torque for what the joint must hold continuously, then choose the gear ratio.
How to compare integrated joint modules
- Peak torque
- What the joint delivers for a few seconds, for landing, lifting and acceleration. Heat limits how long.
- Rated torque
- What the joint delivers continuously without overheating. Size standing and holding loads against this, not peak.
- Gear ratio
- Quasi-direct-drive joints (about 10:1 and below) are backdrivable and feel impacts, which suits legs. Higher ratios give more torque and stiffness for their size but are less transparent to contact.
- Output speed
- Speed at the output shaft after the gearbox, without load. It falls as load rises.
- Communication
- CAN suits small robots with a few joints. EtherCAT suits many joints at high update rates.
- Weight
- Each joint is carried by the joints nearer the body, so weight at the end of a limb costs torque everywhere behind it.
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The store lists what our manufacturers publish. For anything else, a different spec, a quantity price or a part we don’t carry yet, tell us what you need and we’ll find it.
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