Frameless direct-drive torque motors, 130-750 W, rated torque 0.459-4.479 N·m, peak 13.44 N·m, 16-pole, 48 VDC / 220 VAC bus.
COMPONENT
FM1 series frameless torque motors in four standard frame sizes (50/70/85/115 mm). 48 VDC, up to 6500 rpm; motor dimensions and electrical parameters customizable for robot joint and direct-drive applications.
FM2 series high-density frameless torque motors in eight standard frame sizes from 28 to 127 mm. 48 VDC, up to 6500 rpm, high torque density for direct-drive robot joints; custom sizes and electrical parameters supported.
Tecnotion UM frameless permanent-magnet torque motors come in five frames (UM050-UM220, 50-220 mm stator OD): continuous torque 0.64-13.8 Nm, peak 2.03-43.8 Nm, motor constant 0.18-0.84 Nm/√W, bus voltage up to 48-360 VDC. The frameless design embeds directly into joint housings for direct-drive humanoid shoulders/hips/knees, cobot joints and precision gimbals.
Tecnotion (Netherlands) QTR 160 is the largest frame of the QTR frameless direct-drive torque motor family: 160 mm stator OD, 108-111 mm hollow rotor ID, six models with 17-140 mm stacks (QTR-A-160-17/25/34/60/114 and QTR-X-160-140); continuous torque 4.1-103.9 Nm, peak 6.2-155.3 Nm, ultimate 9.3-244.8 Nm, up to 4000 rpm and torque constants 0.31-9.24 Nm/Arms - a high torque-density fit for humanoid hip/knee joints and heavy direct-drive rotary tables.
Tecnotion (Netherlands) QTR 105 frameless direct-drive torque motors: 105 mm OD with flat stacks from just 17 mm and a large inner diameter for easy integration in medical and precision rotary tables; continuous torque 1.4-12.0 Nm, peak 1.9-18.1 Nm, ultimate 3.0-28.4 Nm, optional winding variants and digital hall sensors; the QTR family spans frame sizes 65/78/105/133/160 for semiconductor, printing and rotary direct-drive applications.
Haozhi frameless torque motor for direct-drive collaborative-robot joints; globally optimized electromagnetic design with rare-earth PM, non-oriented cold-rolled silicon steel, corona-resistant magnet wire and Class-H insulation plus innovative winding and EM packaging for high torque density, ≤1% torque ripple, fast dynamic response, low temperature rise and light weight; 3.5x overload, turn-on voltage <24 V and holding voltage <7 V for lower heating, stable output across wide speed and load ranges.
Haozhi integrated robot joint module in six sizes (14-40), combining a frameless torque motor, high-stiffness harmonic reducer, dual absolute multi-turn 18-bit BISS-C encoder and large-hollow low-voltage drive; ratios 50-160, peak torque 23-841 N.m with 3.5x overload, positioning <0.015° and repeatability 0.003°, EtherCAT/CANopen daisy-chain, 48 V supply with 24 V STO/SBC safety, friction brake, 12/18 mm through-bore, torsional stiffness 1.1-41 Nm/arc-min; for collaborative and humanoid robot arms.
CX Robotics (Beijing Changxing Power Robot Technology Co., Ltd.) self-developed CXR force-controlled rotary actuator series integrating frameless torque motor, harmonic reducer, dual encoders and driver for precise force/position/velocity control; four sizes CXR-14/17/20/25 (the site's table mislabels the latter two as CXL-20/25) with rated torque 9.6/30/50/84 N.m, start-stop permissible torque 34/66/102/194 N.m, 29.7-34.6 rpm max output speed, customizable 30-120 reduction ratio, 0.86-2.7 kg mass, phi70-phi110 mm OD and phi6-phi12.5 mm hollow shaft; 17-bit magnetic dual-encoder closed loop with 20 arcsec repeatability, optional torque sensor (0.2% F.S. force control) and brake, 48 VDC, rated/max power 49/103 W up to 483/785 W. Suited to variable-load, variable-inertia humanoid robot joints.
maxon (Switzerland) is a world-leading precision drive manufacturer. The EC frameless DT (Dynamic Torque) family is an inner-rotor frameless torque motor kit (stator + rotor) with large hollow shaft, low-voltage DC and full potting: four frames DT38–DT85 (42–90 mm OD), 0.13–3.42 N·m continuous torque with heatsink, up to 9.63 N·m peak, 3,000–15,000 rpm max speed, cogging as low as 0.5 mNm, torque density up to 4.5 N·m/kg, -40 to +100 °C. Optional integrated TSX MAG incremental or TSX RIO 19-bit absolute encoder; pairs with maxon strain-wave/planetary gears and EPOS/ESCON controllers into High Precision/Efficiency Joints for humanoid and quadruped robots, cobots, surgical robots and exoskeletons, semiconductor handling, and aerospace actuators.
TQ-RoboDrive (TQ-Systems, Germany) commercialized the DLR (German Aerospace Center) motor design and leads in frameless torque motors for humanoids and cobots - PAL Robotics calls its torque-to-weight ratio 'unsurpassed'. The premium ILM (Innenlaeufer) family spans 14 kits from ILM25 to ILM115: rated torque 0.033-3.9 N-m, 24/48 V, up to 22,378 rpm; the cost-optimized ILM-E series adds 9 models (ILM-E50 to E85) at 0.32-3.3 N-m, 48 V with the same torque per kilogram. Stator-rotor frameless kits with spacious hollow shafts, high copper fill factor for low thermal loss, 100% Made in Germany - used in humanoids, cobots, exoskeletons, surgical robots, aerospace and precision automation.
Integrated force-control joints combining an inner-rotor frameless torque motor, reducer, dual absolute encoders and a torque sensor; six sizes HSA-11 to 32 with 11-459 Nm peak torque, 100 Hz force loop, 32 kHz sampling and EtherCAT, delivering high torque density for humanoid and wheeled dual-arm robots.
Kinco FMH frameless torque motors power humanoid rotary/linear joint modules: 38-120 mm outer diameters cover waist, shoulder, elbow, wrist, hip, knee and ankle joints; vacuum-potted stator for low temperature rise and segmented core with high-permeability silicon steel for high torque density; ultra-thin large-bore frame simplifies joint cabling; 48 VDC with 0.13/0.6/1.7 N·m rated torque (FMH03807/05014/08513), up to 4.26 N·m peak torque and 1500-3400 rpm rated speed.
