{
 "id": "joint-actuator",
 "title": "Build a robot joint actuator",
 "blurb": "Everything that goes into one joint: the motor, the reducer, the bearing that carries the load, the encoders, the driver and an optional brake. Or skip the build and buy one integrated.",
 "roles": [
  {
   "title": "Motor",
   "why": "Frameless kits build into your own housing; outrunners suit low-ratio quasi-direct-drive joints.",
   "subcategories": [
    {
     "id": "frameless-bldc",
     "category": "motors",
     "title": "Frameless BLDC Torque Motors",
     "url": "https://parts.trymaglev.com/c/motors/frameless-bldc/",
     "parts": [
      "mo-tq-robodrive-ilm50x08",
      "mo-tq-robodrive-ilm70x10",
      "mo-tq-robodrive-ilm85x13",
      "mo-kollmorgen-kbms-17h01-c",
      "mo-cubemars-ri80-v2-kv75",
      "mo-cubemars-ri60-kv120",
      "mo-cubemars-ro80-kv105",
      "mo-maxon-ec-frameless-dt50m-758031",
      "mo-celera-omni-plus-oph-060-013-b",
      "mo-allied-megaflux-mf0095020-a",
      "mo-thingap-lsi-75-20",
      "mo-cubemars-ri50-kv100",
      "mo-cubemars-ri70-kv95",
      "mo-cubemars-ri100-kv105",
      "mo-cubemars-ri75-ph-kv70",
      "mo-cubemars-ri85-ph-kv85",
      "mo-cubemars-ri115-ph-kv40",
      "mo-cubemars-ro40-kv140-lite",
      "mo-cubemars-ro50-kv108-lite",
      "mo-cubemars-ro60-kv115",
      "mo-cubemars-ro100-kv55",
      "mo-myactuator-rmd-fl-50-15-200",
      "mo-myactuator-rmd-fl-70-16-360",
      "mo-myactuator-rmd-fl-85-13-500",
      "mo-myactuator-rmd-fl-85-23-750-e",
      "mo-myactuator-rmd-flo-90-15-400",
      "mo-leadshine-fm2-04308",
      "mo-leadshine-fm2-05014",
      "mo-leadshine-fm2-06011",
      "mo-leadshine-fm2-07018",
      "mo-leadshine-fm2-08513",
      "mo-leadshine-fm2-08523",
      "mo-kinco-fmh05014",
      "mo-kinco-fmh06017",
      "mo-kinco-fmh07010",
      "mo-kinco-fmh08513",
      "mo-kinco-fmh08522",
      "mo-kinco-fmh09414",
      "mo-kinco-fmh12013",
      "mo-tq-robodrive-ilm38x12",
      "mo-tq-robodrive-ilm50x14",
      "mo-tq-robodrive-ilm85x23",
      "mo-tq-robodrive-ilm115x25",
      "mo-kollmorgen-kbms-10h02-b",
      "mo-kollmorgen-kbms-25h02-c",
      "mo-kollmorgen-tbm2g-05013a",
      "mo-kollmorgen-tbm2g-08513a",
      "mo-parker-k044100-8y2",
      "mo-parker-k064100-8y2",
      "mo-parker-k089100-7y2",
      "mo-allied-megaflux-mf0060020-a",
      "mo-allied-megaflux-mf0127020-a",
      "mo-celera-omni-plus-oph-070-025-b",
      "mo-celera-omni-plus-oph-100-025-b",
      "mo-celera-omni-plus-oph-130-025-b",
      "mo-thingap-lsi-51-13",
      "mo-thingap-lsi-105-33",
      "mo-moons-vka050-008",
      "mo-moons-vka069-010",
      "mo-moons-vka085-013",
      "mo-honpine-fm1-05014",
      "mo-honpine-fm1-07018",
      "mo-honpine-fm1-08523",
      "mo-honpine-fm1-11525",
      "mo-3xmotion-50fsp14",
      "mo-3xmotion-70fsp10",
      "mo-3xmotion-70fsp18",
      "mo-3xmotion-85fsp23",
      "mo-veichi-ft1-055g25",
      "mo-veichi-ft1-075g30",
      "mo-veichi-ft1-085g38",
      "mo-veichi-ft1-120g47",
      "mo-mticore-52lw01",
      "mo-mticore-60lw01b",
      "mo-mticore-60lw05",
      "mo-mticore-104lw01",
      "mo-moog-db-2000-d-1es",
      "mo-moog-db-3000-h-1es",
      "mo-moog-db-4000-b-1es"
     ]
    },
    {
     "id": "outrunner-bldc",
     "category": "motors",
     "title": "Outrunner BLDC (Robotics & Gimbal)",
     "url": "https://parts.trymaglev.com/c/motors/outrunner-bldc/",
     "parts": [
      "mo-cubemars-gl40-kv70",
      "mo-cubemars-gl60-kv25",
      "mo-cubemars-gl80-kv30",
      "mo-tmotor-gb4106-kv53",
      "mo-tmotor-gb2208-kv128",
      "mo-iflight-gm4108h-120t",
      "mo-odrive-d5065-270kv",
      "mo-odrive-d6374-150kv",
      "mo-odrive-m8325s-100kv",
      "mo-mjbots-mj5208"
     ]
    }
   ]
  },
  {
   "title": "Reducer",
   "why": "Strain-wave for zero backlash in a short package, planetary for backdrivable QDD joints, cycloidal for shock and high load.",
   "subcategories": [
    {
     "id": "strain-wave-reducers",
     "category": "actuators",
     "title": "Strain-Wave (Harmonic) Reducers",
     "url": "https://parts.trymaglev.com/c/actuators/strain-wave-reducers/",
     "parts": [
      "ac-harmonicdrive-csf-14-100-2uh",
      "ac-harmonicdrive-csf-17-100-2uh",
      "ac-leaderdrive-lcs-17-100",
      "ac-leaderdrive-lcsg-17-100",
      "ac-laifual-fsg-17",
      "ac-leaderdrive-lcs-14-100",
      "ac-leaderdrive-lcs-20-100",
      "ac-leaderdrive-lcs-25-100",
      "ac-leaderdrive-lcs-32-100",
      "ac-leaderdrive-lcsg-14-100",
      "ac-leaderdrive-lcsg-25-100",
      "ac-leaderdrive-lhs-17-100",
      "ac-leaderdrive-lhsg-20-100",
      "ac-leaderdrive-lhsg-25-100",
      "ac-leaderdrive-lhd-20-100",
      "ac-leaderdrive-lcd-17-100",
      "ac-leaderdrive-ylhs-20-100",
      "ac-leaderdrive-ylhs-25-100",
      "ac-leaderdrive-lcs-mini-11-100",
      "ac-laifual-fsg-14-100",
      "ac-laifual-fsg-20-100",
      "ac-laifual-fsg-25-100",
      "ac-laifual-fss-20-100",
      "ac-laifual-fhg-17-100",
      "ac-laifual-fhg-25-100",
      "ac-laifual-fht-20-100",
      "ac-laifual-fhd-20-100",
      "ac-kofon-kbg-ho-20-100",
      "ac-kofon-kb-ho-25-100",
      "ac-kofon-kcg-mc-20-100",
      "ac-tcdrive-csg-20-100-c-c",
      "ac-tcdrive-cs-17-100-c-c",
      "ac-tcdrive-hsg-25-100-c-h",
      "ac-harmonicdrive-csf-20-100-2uh",
      "ac-harmonicdrive-csg-20-100-2uh",
      "ac-harmonicdrive-csg-25-100-2uh",
      "ac-harmonicdrive-shg-20-100-2uh",
      "ac-harmonicdrive-shg-25-100-2uh",
      "ac-harmonicdrive-csd-20-100-2uh",
      "ac-harmonicdrive-csg-20-100-2a-gr",
      "ac-harmonicdrive-shf-25-100-2a-gr",
      "ac-nidec-wpu-50-100-cr",
      "ac-nidec-wpu-63-100-cr",
      "ac-nidec-wpu-50-100-srh",
      "ac-ctkm-xb6-50-100",
      "ac-ctkm-xb6-80-100",
      "ac-ctkm-xb6-100-100",
      "ac-hansmotion-hmhg-17-100-i",
      "ac-hansmotion-hmhg-20-100-i",
      "ac-hansmotion-hmhg-32-100-i"
     ]
    },
    {
     "id": "planetary-reducers",
     "category": "actuators",
     "title": "Precision Planetary Reducers",
     "url": "https://parts.trymaglev.com/c/actuators/planetary-reducers/",
     "parts": [
      "ac-maxon-gp42c-203113",
      "ac-neugart-ple60",
      "ac-apex-ab042-005",
      "ac-apex-ab060-010",
      "ac-apex-ab090-005",
      "ac-zd-60af-020",
      "ac-zd-90af-010",
      "ac-zd-60zdf-010",
      "ac-wanshsin-wad064-010",
      "ac-wanshsin-wad090-005",
      "ac-wanshsin-wth064-005",
      "ac-wanshsin-wth090-010",
      "ac-neugart-plfn064",
      "ac-neugart-plfn090",
      "ac-maxon-gpx22hp-44",
      "ac-maxon-gpx26hp-62",
      "ac-maxon-gpx32lz-16",
      "ac-wittenstein-np015s-mf1-10",
      "ac-wittenstein-np025s-mf1-10",
      "ac-wittenstein-np035s-mf1-10"
     ]
    },
    {
     "id": "cycloidal-reducers",
     "category": "actuators",
     "title": "Cycloidal & RV Reducers",
     "url": "https://parts.trymaglev.com/c/actuators/cycloidal-reducers/",
     "parts": [
      "ac-spinea-ts70-75-tb",
      "ac-nabtesco-rv-25n",
      "ac-nabtesco-rv-42n",
      "ac-nabtesco-rv-80n",
      "ac-nabtesco-rv-50c",
      "ac-spinea-ts110",
      "ac-spinea-ts140",
      "ac-spinea-ts140-h",
      "ac-sumitomo-f2c-a15",
      "ac-sumitomo-f2c-a25",
      "ac-shuanghuan-shpr-20e",
      "ac-shuanghuan-shpr-40e",
      "ac-shuanghuan-shpr-10c",
      "ac-shuanghuan-shpr-50c",
      "ac-qinchuan-bx20e",
      "ac-qinchuan-bx40e",
      "ac-qinchuan-bx10c",
      "ac-sinotup-tf55",
      "ac-sinotup-tf86",
      "ac-sinotup-tf113",
      "ac-wanshsin-wcf-25",
      "ac-wanshsin-wcf-32",
      "ac-hengfengtai-cort-6e",
      "ac-hengfengtai-cort-20e",
      "ac-hengfengtai-cort-40e",
      "ac-hengfengtai-cort-10c",
      "ac-zhenkang-zkrv-20e",
      "ac-zhenkang-zkrv-40e",
      "ac-zhenkang-zkrv-50c",
      "ac-zhongda-150bx-rve",
      "ac-zhongda-190bx-rve",
      "ac-zhongda-50cbx-rvc"
     ]
    }
   ]
  },
  {
   "title": "Output bearing",
   "why": "One crossed roller bearing carries the radial, axial and tilting load at the joint output.",
   "subcategories": [
    {
     "id": "crossed-roller-bearings",
     "category": "actuators",
     "title": "Crossed Roller Bearings",
     "url": "https://parts.trymaglev.com/c/actuators/crossed-roller-bearings/",
     "parts": [
      "ac-zys-ru85",
      "ac-zys-rb3010",
      "ac-honb-hru66",
      "ac-honb-hrbh5013",
      "ac-honb-hrbh11020",
      "ac-honb-csg-20-bearing",
      "ac-honb-csg-32-bearing",
      "ac-lkpb-ru66",
      "ac-cszbtr-ru42",
      "ac-thk-ru42",
      "ac-thk-ru66",
      "ac-thk-ru85",
      "ac-thk-ru124",
      "ac-iko-crbh3510",
      "ac-iko-crbh5013a",
      "ac-iko-crbh11020a",
      "ac-hiwin-crbc03010",
      "ac-hiwin-crbc05013",
      "ac-hiwin-crbe05515",
      "ac-hiwin-crbe08022",
      "ac-lyc-crb3010-2rs",
      "ac-lyc-crb4010-2rs"
     ]
    },
    {
     "id": "thin-section-bearings",
     "category": "actuators",
     "title": "Thin-Section Bearings",
     "url": "https://parts.trymaglev.com/c/actuators/thin-section-bearings/",
     "parts": [
      "ac-ydpb-ydka020xp0",
      "ac-nert-nka065ar0",
      "ac-chg-hja020x",
      "ac-chg-hja040x",
      "ac-tfl-ka040xp0",
      "ac-kaydon-ka020xp0",
      "ac-kaydon-ja020xp0",
      "ac-silverthin-sm05008xp0",
      "ac-silverthin-sm08013xp0",
      "ac-koyo-kac020",
      "ac-ssb-ra020xp0",
      "ac-zys-zj06008c",
      "ac-zys-zj08008x",
      "ac-zys-zj10008a"
     ]
    }
   ]
  },
  {
   "title": "Encoders",
   "why": "A motor-side encoder for commutation and, for accurate joints, a second absolute encoder on the output.",
   "subcategories": [
    {
     "id": "joint-encoders",
     "category": "actuators",
     "title": "Joint Encoders",
     "url": "https://parts.trymaglev.com/c/actuators/joint-encoders/",
     "parts": [
      "ac-rls-aksim-2",
      "ac-renishaw-resolute-ra32bba150b30f",
      "ac-ams-as5047p-ts-ek-ab",
      "ac-adafruit-as5600-6357",
      "ac-samesky-amt102-v",
      "ac-samesky-amt21",
      "ac-magntek-mt6835gt-std",
      "ac-magntek-mt6701ct-std",
      "ac-magntek-mt6826sgt-std",
      "ac-zeroerr-ecoder11",
      "ac-zeroerr-ecoder20",
      "ac-zeroerr-ecoder35",
      "ac-zeroerr-ecoder65",
      "ac-kingkong-mpt",
      "ac-kingkong-dpt",
      "ac-kingkong-mpp",
      "ac-mjbots-ma600-breakout",
      "ac-tinymovr-ma600-breakout",
      "ac-tinymovr-ma702-breakout",
      "ac-odrive-enc-oa1",
      "ac-novanta-incoder-core-1-44",
      "ac-novanta-incoder-core-3-70",
      "ac-novanta-aura-rotary",
      "ac-ichaus-ic-mu150-eval-mu1m",
      "ac-netzer-ds-25",
      "ac-netzer-ds-58",
      "ac-rls-orbis",
      "ac-rls-aksim-4-dual-concentric"
     ]
    }
   ]
  },
  {
   "title": "Driver",
   "why": "A compact FOC servo driver that mounts on the joint and talks CAN or EtherCAT to your controller.",
   "subcategories": [
    {
     "id": "drivers",
     "category": "motors",
     "title": "Motor Drivers & Controllers",
     "url": "https://parts.trymaglev.com/c/motors/drivers/",
     "parts": [
      "mo-odrive-s1",
      "mo-odrive-pro",
      "mo-odrive-micro",
      "mo-moteus-r4-11",
      "mo-moteus-n1",
      "mo-moteus-x1",
      "mo-flipsky-75100",
      "mo-trampa-vesc6-mkvi",
      "mo-elmo-gold-twitter-r80-80",
      "mo-elmo-gold-whistle-20-100",
      "mo-ingenia-everest-xcr",
      "mo-copley-ack-090-08",
      "mo-adi-tmcm-1617-tmcl",
      "mo-ti-boostxl-drv8323rs",
      "mo-cubemars-driver-board-v2-1",
      "mo-cubemars-driver-board-v2-2",
      "mo-cubemars-driver-board-v3-0-small",
      "mo-cubemars-driver-board-v3-0-big",
      "mo-steadywin-gds6",
      "mo-steadywin-gds68",
      "mo-steadywin-gdz468",
      "mo-moteus-c1",
      "mo-tinymovr-x5",
      "mo-tinymovr-m5-2",
      "mo-tinymovr-r5-4",
      "mo-synapticon-circulo-7",
      "mo-synapticon-circulo-9",
      "mo-elmo-platinum-twitter",
      "mo-novanta-everest-core",
      "mo-novanta-everest-net",
      "mo-novanta-capitan-core",
      "mo-novanta-capitan-net",
      "mo-novanta-capitan-xcr",
      "mo-novanta-denali-net",
      "mo-novanta-denali-xcr",
      "mo-makerbase-xdrive-mini",
      "mo-damiao-dm40-2e",
      "mo-damiao-dm60-2e",
      "mo-damiao-dm80-2e",
      "mo-damiao-dm100-2e",
      "mo-myactuator-mc-x-300-o",
      "mo-myactuator-mc-x-500-o",
      "mo-myactuator-mc200"
     ]
    }
   ]
  },
  {
   "title": "Holding brake (optional)",
   "why": "Holds the joint when power drops, so an arm or leg does not fall.",
   "subcategories": [
    {
     "id": "joint-brakes",
     "category": "actuators",
     "title": "Joint Holding Brakes",
     "url": "https://parts.trymaglev.com/c/actuators/joint-brakes/",
     "parts": [
      "ac-reach-reb16-06",
      "ac-reach-reb16-08",
      "ac-reach-reb18-50sle",
      "ac-reach-reb18-110sle",
      "ac-cdc-s060yc",
      "ac-cdc-s100yc",
      "ac-cdc-s040cb",
      "ac-steki-smb04-11",
      "ac-steki-smb06-11",
      "ac-kendrion-sp-61108k00-0001",
      "ac-kendrion-sl-50012a00-0001",
      "ac-mayr-roba-servostop-cobot-60",
      "ac-mayr-roba-servostop-cobot-100",
      "ac-miki-pulley-bxr-040-10le",
      "ac-miki-pulley-bxr-050-10le",
      "ac-ankoncn-asf60",
      "ac-ankoncn-asf80",
      "ac-ankoncn-asf100",
      "ac-xiaomu-mk-k2-03",
      "ac-xiaomu-mk-k2-05",
      "ac-xiaomu-mk-k2-06",
      "ac-ogura-pmb-5",
      "ac-ogura-pmb-7",
      "ac-ogura-pmb-9",
      "ac-keb-combiperm-p1-03",
      "ac-keb-combiperm-p1-05",
      "ac-keb-combiperm-p1-07"
     ]
    }
   ]
  },
  {
   "title": "Or buy it integrated",
   "why": "Motor, reducer, driver and encoder already assembled and tuned.",
   "subcategories": [
    {
     "id": "joint-actuators",
     "category": "actuators",
     "title": "Integrated Joint Actuators",
     "url": "https://parts.trymaglev.com/c/actuators/joint-actuators/",
     "parts": [
      "ac-robstride-rs00",
      "ac-robstride-rs02",
      "ac-robstride-rs03",
      "ac-robstride-rs04",
      "ac-robstride-rs06",
      "ac-cubemars-ak60-6-v3",
      "ac-cubemars-ak70-10",
      "ac-cubemars-ak80-9-v3",
      "ac-cubemars-ak10-9-v3",
      "ac-cubemars-ak80-64",
      "ac-myactuator-rmd-x2-p28-7",
      "ac-myactuator-rmd-x4-p36-36",
      "ac-myactuator-rmd-x6-p20-60",
      "ac-myactuator-rmd-x8-p20-120",
      "ac-unitree-go-m8010-6",
      "ac-unitree-a1-motor",
      "ac-damiao-dm-j4310-2ec",
      "ac-damiao-dm-j8009-2ec",
      "ac-steadywin-gim8115-9",
      "ac-leadshine-pj3-75can42",
      "ac-zeroerr-erob70f-100",
      "ac-encos-ec-a8116-p1-18",
      "ac-harmonicdrive-sha20a-100",
      "ac-cubemars-ak40-10-v3",
      "ac-cubemars-ak45-36-v3",
      "ac-cubemars-ak60-39-v3",
      "ac-cubemars-ak70-9-v3",
      "ac-cubemars-akh70-48",
      "ac-damiao-dm-j3507-2ec",
      "ac-damiao-dm-j6006-2ec",
      "ac-damiao-dm-j4340-2ec-v1-1",
      "ac-damiao-dm-j6248p-2ec",
      "ac-damiao-dm-j10010l-2ec",
      "ac-damiao-dm-j8520p-2ec",
      "ac-damiao-dm-j10422p-2ec",
      "ac-damiao-dm-jh14-101-2ec",
      "ac-encos-ec-a4315-p2-36",
      "ac-encos-ec-a10020-p1-12",
      "ac-encos-ec-a13720-p1-11-4",
      "ac-encos-ec-a6013-h20-100",
      "ac-eyou-pha14h-101-c",
      "ac-eyou-rp70h",
      "ac-ti5-cra-ri100-120-pro-51",
      "ac-myactuator-rmd-x4-p12-5-10",
      "ac-myactuator-rmd-x8-p9-32-r",
      "ac-myactuator-rmd-x8-p20-150-e-03",
      "ac-myactuator-rmd-x10-p20-200-e",
      "ac-myactuator-rh-14-100-e-n-d",
      "ac-myactuator-rh-20-100-e-n-d",
      "ac-myactuator-rh-32-100-e-n-d",
      "ac-unitree-im6014",
      "ac-synapticon-actilink-jd-circulo-8",
      "ac-synapticon-actilink-jd-circulo-12",
      "ac-harmonicdrive-sha25a-101-integrated",
      "ac-harmonicdrive-sha32a-101-integrated",
      "ac-maxon-hej-70-48-60",
      "ac-robstride-rs05",
      "ac-robstride-rs01",
      "ac-robstride-rs02-ip67",
      "ac-robstride-rs10p",
      "ac-steadywin-gim4310-36",
      "ac-steadywin-gim6010-8",
      "ac-steadywin-gim8115-36",
      "ac-steadywin-gim10015-9",
      "ac-zeroerr-erob80i-100",
      "ac-zeroerr-erob110i-100",
      "ac-zeroerr-erob142i-100",
      "ac-hightorque-htdw-4438-30-ne",
      "ac-hightorque-htdw-5036-02-dne",
      "ac-hightorque-htdw-6036-02-dne",
      "ac-hightorque-htdw-7535-02-cne",
      "ac-unitree-b1-16",
      "ac-unitree-b1-motor",
      "ac-kinco-ifmh55h",
      "ac-kinco-ifmh60h",
      "ac-kinco-ifmh70h",
      "ac-kinco-ifmh80h",
      "ac-leadshine-pj3-60can29",
      "ac-leadshine-pj3-97can140",
      "ac-leadshine-hj2-70f101d24-nk-ec",
      "ac-leadshine-hj2-110f101d24-nk-ec"
     ]
    }
   ]
  }
 ]
}