Qdd Actuator. Robotics parts, actuator, harmonic, diy, 3d printed, YouTube, cr

Robotics parts, actuator, harmonic, diy, 3d printed, YouTube, creator Jan 3, 2023 · This study addresses the design and evaluation of a compact, lightweight, and highly responsive actuator to be used for exosuits, based on the Quasi-Direct Drive (QDD) actuation. State-of-the-art actuators, e. Aug 18, 2025 · As technology evolves rapidly, actuator designs are also changing quickly, and one approach that meets these demands is the QDD actuator. On MIT Cheetah and MIT Cheetah 2, a four-bar linkage mechanism is designed to realize the transmission from the knee actuator to the knee joint [14], [15]. 7 meters tall and features up to 44 degrees of freedom, driven by QDD actuators that deliver high torque with smooth response. A comprehensive review of the mechanical design of the PULSE115-60 actuator is presented, with particular focus on the design parameters affecting the dynamic performance of the actuator and a full specification is provided Feb 28, 2022 · These 3D printed designs demonstrate an approach for designing and characterizing low-cost, highly customizable, and highly reproducible actuators, democratizing the eld of actuator design and enabling co-design and optimization of actuators and robot legs. Using a Halbach array for an ironless rotor and a 3D-printed cycloidal planetary gearbox, it delivers up to 29. Jul 14, 2025 · Smart design delivers a low-cost 3D-printable QDD actuator that reaches nearly 30Nm of holding torque. We use composite materials combined with manufacturing process, which greatly reduces the manufacturing cost of traditional all-metal actuators and greatly reduces the R&D cost of high-performance robots. Its design features precision-machined cycloidal disks, eccentric cams, and counterbalancing disks to reduce torque ripple and ensure smooth operation under dynamic loads. It is composed of a brushless outrunner motor, a low-cost metal gearbox, and a 3D-printed housing. Recent advancements in QDD technology have focused on optimizing gear ratios and reducing backlash, further enhancing the actuator’s performance in high-impact environments [24]. QDD Brushless Permanent Magnet Actuator 18Nm 48VDC 140RPM Planetary IP54 Robotic Rotary Joint Ethernet/CAN Humanoid The RobStride 02 QDD 17N·m Integrated Actuator Module combines driver, motor, planetary reducer, and dual magnetic encoders into a lightweight, compact form weighing only 405g. 5 N. in/grZnJC8F The RobStride 00 QDD integrated actuator combines a motor, planetary gearbox, and driver The C-QDD actuator combines a compact 10:1 cycloidal gearbox with a quasi-direct drive system, optimized for high torque and minimal backlash in legged robotics. As more mini-cheetah actuator clones appear on the market, this is becoming less of a practical need, but a learning project that touches on some of the fun parts of robotics hardware design. e. The actuator is rated of 22 NM of nominal torque with a peak torque reaching 50 NM. ** Features: ** ️ 9:1 Mar 20, 2025 · In contrast, QDD actuators integrate gear reductions, while balancing torque amplification and maintaining the benefit of DD [23]. Contribute to aaedmusa/OpenQDD-V1 development by creating an account on GitHub. The lower cost of the smaller bearing makes up for the added cost of the steel gears. 00 SKU100064875 6 days ago · ROBSTRIDE05 5. 75:1 gear ratio, with 5. The design allows for on-the-fly stiffness tuning for better environment and payload adaptability. A comprehensive review of the mechanical design of the PULSE115-60 actuator is presented, with particular focus on the design parameters affecting the dynamic performance of the actuator and a full specification is provided The Ironless-QDD-Actuator is a low-cost, high-torque, fully 3D-printed quasi-direct-drive actuator for robotics projects. 5N·m Integrated Actuator Module is a compact, high-performance solution combining motor, planetary reducer, and driver into a single unit. Integrated electronics and control strategies for torque, speed, and position. This Quasi Direct Drive actuator is fast and powerful thanks to its large diameter planetary gears. , series elastic actuators (SEAs), have to compromise bandwidth to improve compliance (i. Compact, high-torque QDD A2 actuator for robotics with precision control, >90% efficiency, low backlash, and safe human-interaction performance. 5 N·m with a lightweight 191g build, it is ideal for robotics, automation, and smart mobility applications. Nov 2, 2023 · This work focuses on development of a 2 degrees of freedom Quadruped robot leg based on quasi direct drive actuator. A QDD actuator is made with two key components. We would like to show you a description here but the site won’t allow us. May 13, 2024 · This paper presents the design and experimental results of a proprioceptive, high-bandwidth quasi direct drive (QDD) actuator for highly dynamic robotic applications. Rotary Actuator QDD Actuator High-performance intelligent flexible actuator We highly integrate excellent motor technology, drive technology, encoder technology and reducer technology Together, we provide excellent solutions for the development of robots! Abstract— High-performance actuators are crucial to enable mechanical versatility of lower-limb wearable robots, which are required to be lightweight, highly backdrivable, and with high bandwidth. RobStride 00 is a highly-integrated QDD actuator module that includes a motor, driver circuitry, planetary reducer, and dual magnetic encoders. Momentary allowable maximum torque: 143NM. Innovating to transform industries through precision and cutting-edge technology. Specifications: Torque, measured at zero speed, ambient 20C lab, 24V input, no airflow or heatsink until limiting occurs Peak: 16 Nm (< 1s) 10 Nm - 60s 6 Nm - We have developed an actuator design method that enables force control in applications with highly dynamic environmental interactions. Several design concepts were comparatively evaluated to select the optimal design, and a design for the pulley embedded QDD (PEQDD) actuator was selected. m integrated actuator module $80. - Robotics: suitable for joints of quadruped robots and humanoid robots, joints of robotic arms, and drive units of AMR and AGV, etc. Phil's Lab ESC Hardware Design: • ESC Hardware Design - Phil's Lab #66 In this video, I test a QDD robotic actuator that I fabricated using a 3D printer, paired with my custom-built ESC. AK70-10 Robotic Actuator for Humanoid & Quadruped Robots (Quasi Direct Drive QDD Brushless Motor) #RobStrideDynamics Actuators are now LIVE at Seeed Studio store! Find yours at: https://lnkd. The leg is attached with the linear slider on a structure to actuate the jumping in a vertical direction. 00As low as$114. The C-QDD actuator is benchmarked and the performance of the GRU torque estimation framework is evaluated Abstract— High-performance actuators are crucial to enable mechanical versatility of wearable robots, which are required to be lightweight, highly backdrivable, and with high bandwidth. Download scientific diagram | The assembly of the coaxial QDD actuator module. The high back-drivability insures that you can easily estimate the motor load by current feedback, which is of corse is availably through the CAN bus, as well as PID parameters. Such characteristics enable the exhibition of dynamic motions and can deal with large external impacts. The method optimizes the motor selection and gear ratio for high fidelity proprioceptive force control within given actuator weight constraints. Pinned Low-Cost Ironless Rotor QDD 3D Printed Actuator 232 17 Website for tracking the Iowa State University PrISUm Solar Car JavaScript 2 A more fleshed out website for the current inventory of the Iowa State Surplus HTML 1 Custom new tab startpage with stock info, news, weather, and lots of links JavaScript 1 Jan 12, 2026 · Adam stands about 1. ** Features: ** ️ 9:1 This paper presents the design and experimental results of a proprioceptive, high-bandwidth quasi-direct drive (QDD) actuator for highly dynamic robotic applications. QDD actuators are increasingly being adopted in humanoid and quadruped robots due to their high efficiency, torque density, and compact size. RobStride 06 is a high-performance QDD actuator module delivering 36 N. Dec 1, 2021 · The design requirements of the actuator were set based on the actuation system used in the state-of-the-art exosuit from Harvard University (HE) so that it could be an improvement compared to HE. May 24, 2025 · ⚙️ QDD (Quasi-Direct Drive) 구조 설명 QDD는 말 그대로 완전한 다이렉트 드라이브는 아니지만, 최대한 유사하게 구현된 구조입니다. Blue and green arrows represent one belt drive from motor shaft to active link of linkage. Actuator Two assembled V1 actuators It is seemingly a rite of passage for any mechanically minded robotics engineer to want to design their own QDD actuator. The design is very much based on the actuators from the MIT Cheetah mini robot but with an increased maximum current and torque ratings. . Weighing 621g, it integrates motor, driver, and reducer. Abstract: High-performance actuators are crucial to enable mechanical versatility of wearable robots, which are required to be lightweight, highly backdrivable, and with high bandwidth. QDD actuators offer several advantages over pneumatic and soft fluidic actuators. At the time of the start of development there were no readily available off the shelf solutions to solve this problem. Compliance Focused Actuation and Transmission Design To achieve both passive compliance and high-bandwidth active force control, we opted for a mechanically compliant electric actuator. 00 SKU100060739 Add to Cart RobStride 05 QDD 5. Deep Blue Documents This paper presents the design and experimental results of a proprioceptive, high-bandwidth quasi-direct drive (QDD) actuator for highly dynamic robotic applications. Mar 27, 2021 · Leveraging these recent advances, an modular low-cost QDD actuator based on off-the-shelf parts have been suggested in [9], and several small sized dynamic quadrupeds using modular QDD actuators have been suggested, which includes Unitree A1 [10], Jueying Mini [11] and many others. Nov 21, 2020 · The presented actuator exploits low-reduction gearing so that it can render over 26 Nm of continuous torque, while the actuator speed can exceed 37 rad/s. The composite materials combined with manufacturing process greatly reduces the manufacturing cost of traditional all-metal actuators and the R&D cost of high-performance robots. RobStride EduLite 05 is a highly-integrated QDD actuator module that includes a motor, driver circuitry, planetary reducer, and dual magnetic encoders. com I've built an alternative shoulder for Robotic Arm, based on quasi direct drive actuator (MIT mini Cheetah like actuator). Unlike traditional high-gear actuators, our QDD design preserves high bandwidth and ultra-fast response, ensuring precision and agility in every move. Our results show that using the redundant actuation we can save up to 99% of energy Nov 2, 2023 · This work focuses on development of a 2 degrees of freedom Quadruped robot leg based on quasi direct drive actuator. Jul 28, 2023 · QDD (Quasi Direct Drive) actuators use brushless motors and have low gear reductions, high torque, and high speed. The C-QDD actuator is benchmarked and the performance of the torque estimation framework is evaluated experimentally. I2RT QDD Actuator - 4340P16 is a proprietary actuator developed & manufactured by I2RT Robotics fully in-house. The contributions of this paper are: 1) Design of a Cycloidal Quasi-Direct Drive Actuator: We introduce a cycloidal quasi-direct drive actuator design tailored for dynamic locomotion and demanding climbing [13]. These characteristics make them ideal for developing walking robots. Oct 21, 2024 · Additionally, we develop a torque estimation framework for the actuator using an Actuator Network, which effectively reduces the sim-to-real gap introduced by the cycloidal drive's complex dynamics. 1 microcontroller, CAN bus communication. Feb 25, 2021 · In this video, we demo our first custom designed and built Quasi Direct Drive (QDD) robotics actuator for the Anthro. 6 days ago · Key Insights The global quasi direct drive (QDD) actuator market is valued at USD 2. Item Description 100% Authentic Part # QDDDescription : DOUBLE PUSH-BUTTON ACTUATORManufacturer : Klockner-MoellerSystem Name : M22System SubType : Push ButtonAdditional Information : DOUBLE PUSH-BUTTON ACTUATOR QDD - Klockner-Moeller - Datasheet PDF Buy & Sell PLC Components Allen Bradley, Moeller, Siemens, O Aug 29, 2024 · Enhancing humanoid robot actuator design in new $1. The design requirements of the actuator were set based on the actuation system used in the state-of-the-art exosuit from Harvard University (HE) so that it could be an improvement compared to HE. 00As low as$152. Cycloidal QDD Actuator for Dynamic Robots Engineering SeoJin 319 subscribers Subscribe Apr 12, 2021 · This paper assesses the energy efficiency of a redundant actuation architecture combining Quasi-Direct Drive (QDD) motors and Series Elastic Actuators (SEAs) by comparing its energy consumption to Geared Motors (GMs) and SEAs alone. m integrated actuator module (Dual Encoders) $160. 기존 치타 로봇이 고속으로 달리고 점프하는 다이나믹한 동작을 구현하기 위해선, S mart C ompliant A ctuator：智能柔性执行器，一种基于 QDD技术的一体化低成本机器人运动控制解决方案。 1、什么是QDD QDD 是英文全称是 Quasi-Direct Drive，即半直驱驱动器，也称之为本体驱动器（Proprioceptive Actuator）。 The secret behind Gluon’s abilities are in its composite-based SCA (Smart Compliant Actuator) QDD Lite-NE30 smart actuators, which incorporate a high-precision reducer, a high torque density outer rotor motor, precision encoder, collision detection sensor, and driver. | Alibaba. NOT CURRENTLY STOCKED, MINIMUM ORDER QTY 50, CONTACT info@mjbots. Download scientific diagram | QDD Actuator: (a) Details of the actuator design; (b) Cross-section view of actuator; (c) Manufactured actuator from publication: A Chain-Driven, Sandwich-Legged B. Low gear ratio transmissions (lower than 10:1). With OpenQDD, creating high-performing actuators at an affordable price is possible. This paper presents the design and experimental results of a proprioceptive, high-bandwidth quasi-direct drive (QDD) actuator for highly dynamic robotic applications. The QDD scheme was created by MIT and implemented in the Mini Cheetah. m peak torque with a 9:1 gear ratio. 7 million and is poised to grow at a CAGR of 18. The actuator design utilizes the QDD (Quasi Direct Drive) scheme which means that it uses a low gear reduction to retain speed and efficiency. The lower cost of the smalle r bearing makes up for the added cost of the steel gears. Inspired by Gabrael Levine's OpenTorque actuator, but takes up less volume. 0. Oct 22, 2024 · DD actuators are praised for their simplicity and torque transparency, which minimize mechanical impedance [3] and allow for accurate force control. Feb 20, 2021 · NOMAD BLDC QDD Actuator Back to overview Compact High Bandwidth, High Performance and Compliant Actuator for use in Legged Robotics. from publication: An Aug 18, 2025 · 이 글에서는 Quasi Direct Drive Actuator, QDD 액추에이터에 대해서 알아보는 시간을 가져보려고 합니다. A comprehensive review of the mechanical design of the PULSE115-60 actuator is presented, with particular focus on the design parameters affecting the dynamic performance of the actuator and a full specification is provided May 29, 2024 · Design Considerations for QDD Actuators When designing QDD actuators, several key factors must be carefully considered: Motor Selection The motor is the core component of a QDD actuator, and its performance directly determines the overall actuator performance. So I bought this actuator to play with it and to Download scientific diagram | The proposed robotic leg with three Quasi-Direct Drive (QDD) actuators. Sep 21, 2020 · Enjoy the videos and music you love, upload original content, and share it all with friends, family, and the world on YouTube. Jun 21, 2023 · These open-source actuators follow the same working principle as OpenQDD and are also fully 3D printed. The author designed this robotic actuator to be a powerful, easy-to-build, and relatively inexpensive solution to creating dynamic robots. com This is the third beta version of the mjbots qdd100 quasi-direct drive brushless servo. QDD Lite series is the composite material version of MINTASCA actuators. In contrast, QDD actuators integrate gear reductions with direct drive principles, balancing torque amplification and control transparency [21]. g. What's a QDD Actuator? QDD actuators are electromechanical actuators designed with: High-torque, low-speed motors (often called torque motors). from publication: Cascaded PID Trajectory Tracking Control for Quadruped Robotic Leg | This The robot is gonna use quasi-direct drive actuators, teensy 4. Oct 16, 2023 · High-performance actuators are critical to the biped robot, which are required to be high torque output, high dynamic response, and lightweight. Open source 3D printed Robotic Actuator. I never used any of this and it should be finished in 9 months (deadline is 1st May 2026). 00 SKU100035437 Add to Cart RobStride 02 QDD 17N. The module has a 10:1 gear ratio, with 14 N. m peak torque and weighs only 191g. 00As low as$76. Quasi Direct Drive offers faster responsiveness by installing a reducer directly inside a hollow-shaft motor. m peak torque and weighs 242g. Feb 18, 2021 · These BLDC actuators were developed to support the build of the NOMAD 12-DOF Quadruped project. SpryDrive is an affordable actuator based on the quasi-direct drive (QDD) scheme. Delivering an exceptional 50 Nm/kg, our QDD actuator rivals the torque density of high-ratio geared systems, without the bulk or compromise. This also means that the motor needs to have high torque in order for the actuator to be powerful. Hi everyone, This is my prototype of a 3D printed MIT mini cheetah actuator. Features:- Fully modular design, upgrad Dec 1, 2022 · QDD-based proprioceptive joint actuators achieve the light-weight leg, which enables the fast running on electrically-actuated quadruped robots. I know that many my viewers are interested in this technology (quasi direct drive (QDD)), because it provides affordable and capable actuators. Empowering tomorrow with intelligent robotics and automation solutions. The actuator features a 6:1 planetary red Download scientific diagram | The specification each QDD actuator utilized in the NING humanoid from publication: The NING Humanoid: The Concurrent Design and Development of a Dynamic and Agile The Ironless-QDD-Actuator is a low-cost, high-torque, fully 3D-printed quasi-direct-drive actuator for robotics projects. Recently, Quasi-Direct Drive (QDD) actuators (transmission ratios < 1:10) have been used for legged loco-motion and have the desirable properties of low friction, high backdrivability, toughness, simplicity, robust force control Initial position and torque tests for a new quasi-direct drive (QDD) that I have been working on - OrbitDrive V1. They feature a 6:1 planetary gear reduction From the intro: This actuator builds off the actuation paradigm used in the MIT Cheetah series of robots, using a high torque density electric motor, coupled to a low gear ratio transmission to achieve high torque density, high backdriveablility, and high bandwidth force control through proprioception [1]. 6–1. A brushless motor with a large gap radius to maximize torque density. It has a BOM cost <$75, can hold 30Nm of torque, and is fully open source. Precision-engineered actuators designed to deliver superior control and power, ensuring smooth, responsive movements with unmatched durability, optimized for high-performance applications in robotic systems. This RobStride 00 QDD 14N·m Integrated Actuator Module is ideal for engineers and developers seeking a compact, high-torque, precision joint actuator for advanced robotics and automation projects. Robots like Spot, Atlas, and the MIT mini cheetah easily impress the eye with their agility, speed, and overall ability to mimic natural motion. 3 Items View asList 25 50 All per page RobStride EduLite 05 QDD 6N. m integrated actuator module $120. 5N. RobStride 05 is a highly-integrated QDD actuator module that includes a motor, driver circuitry, planetary reducer, and dual magnetic encoders. The goal for this project was to design an actuator that was lightweight, thin, and easy to make. Robots like Spot, Atlas, and the MIT mini cheetah easily impress the eye with thei… Nov 17, 2019 · SpryDrive is an affordable actuator based on the quasi-direct drive (QDD) scheme. Jul 12, 2025 · This is my 3D printed quasi-direct-drive actuator. Delivering a peak torque of 5. The quasi-direct drive (QDD) actuation has the advantages of fast response and simple structure and has been widely used OpenQDD V1 - 3D Printed Robotic Actuator: OpenQDD is a 3D-printed open-source robotic actuator that I designed to be a powerful, easy-to-build, and relatively inexpensive solution for creating dynamic robots. We consider this comparison for two robotic systems performing different tasks. Product Description The RobStride 05 QDD 5. Ideal for large humanoids, quadrupeds, and exoskeletons. The module has a 7. m peak torque and weighs only 310g. 9% during the forecast period of 2025-2033. Our tensegrity robot employs a novel Quasi-Direct Drive (QDD) cable actuator paired with low-stretch polymer cables to achieve accurate proprioception without the need for external force or torque sensors. 2M project An Agility Robotics Digit bipedal robot carries a package into the Ford Motor Company Robotics Building at the University of Michigan. 5N·m Integrated High Performance QDD Actuator Module 3-Phases Robot Arm Joint Motor. The module has a 9:1 gear ratio, with 6 N. Humanoid Robots Bionic Robot Articulated Motor Squasi-direct Drive (qdd) Robot Actuator Integration Module. TOPS (Traverser of Planar Surfaces) or "SPOT" backwards is a 3D printed Open Source quadrupedal robot - aaedmusa/TOPS Our tensegrity robot employs a novel Quasi-Direct Drive (QDD) cable actuator paired with low-stretch polymer cables to achieve accurate proprioception without the need for external force or torque sensors. 4Nm of holding torque for ~$70 (with controller). , backdrivability). It works really nice, but I need t SCA with super low cost and high performance QDD Lite series is the composite material version of MINTASCA actuators.

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