Joint Actuator Anatomy Lab
Humanoid joint module · switch planetary, harmonic or cycloidal drive · 18/18/54T · 3 planets · 4:1
Gearbox
Sun in · ring fixed · carrier out
View
The whole joint module: electrics, motor, gear train, output and fasteners.
Explode
Push the parts apart along the axis; 0 is assembled, 1 is fully exploded
Drive demo
Motor speed before reduction. The scene renders in slow motion — at 3000 rpm the teeth are a blur
- Reduction
- 4:1
- Output speed
- 300 rpm
- Planet spin
- -600 rpm
- Torque gain
- ×4
- η / backdrive
- 97% · yes
Rendered in slow motion: real speed ÷ slow-motion factor is what you see on screen
Camera
Parts
16 parts, listed in assembly order from the rear forward. Click one to highlight it and pull up its note.
Click a part in the scene, or pick one below, and its job plus one engineering fact show up here.
How this module is computed
Highest efficiency, back-drivable and shock tolerant: impacts pass through the gearbox to the motor, which is why QDD joints can afford dynamic motion. The price is 3–10:1 per stage, so a slow, strong joint has to buy speed from the motor.
Every part is generated procedurally — no CAD model is loaded. This is a representative joint module, not a scan of any one product. The teeth are stylised rather than involute, but the ratio comes from the analytic solution, so what meshes on screen and what the readouts say are always the same thing. All three gearboxes share the motor and output; only the four drivetrain parts change.