PL Series Direct drive planetary joint actuators

The PL series QDD planetary joint module is an integrated joint component comprising a high-torque-density motor, a low-reduction-ratio planetary gearbox, dual encoders, and a drive control system. By utilizing a low-reduction-ratio planetary gearbox, it achieves high-transparency force control, combining the compliance of direct drive with the high torque output of a gearbox.

Max rated torque: 96NM
Rated Speed : 50RPM
Rated Voltage: 48VDC
Communication: EtherCAT,CiA402 Protocol

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Product description

The PL series QDD planetary joint module is an integrated joint component comprising a high-torque-density motor, a low-reduction-ratio planetary gearbox, dual encoders, and a drive control system. By utilizing a low-reduction-ratio planetary gearbox, it achieves high-transparency force control, combining the compliance of direct drive with the high torque output of a gearbox; it serves as a core solution for high-dynamic lower-limb joints in legged and humanoid robots.

EtherCAT,CiA402 Protocol

PL Series Quasi-direct drive
9~96Nm Rated Torque
48VDC voltage

Product structure

①Motor Back Cover ②: PCB driver board ③ Encoders ④Motor ⑤ Bearing⑥Planetary gear reducer ⑦Output flange

Product Features

Flat compact& impact-resistant

Flat, compact, impact-resistant quasi-direct-drive planetary joint module: thin-profile integrated design, high torque density, high backdrivability, and rugged planetary gearing for dynamic legged and collaborative robotic applications.

Low inertia,&high precision

Low-inertia, high-precision quasi-direct-drive planetary joint module: lightweight rotor and optimized planetary reduction for fast dynamic response, combined with high-resolution encoding and rigid gearing for accurate positioning and transparent force control.

Back-driving intrinsically safe

Backdrivable and intrinsically safe quasi-direct-drive planetary joint module: low-ratio QDD architecture enables external backdriving, transparent force sensing, and inherent compliance for safe human-robot interaction and collision-tolerant operation.

High response speed

High-response quasi-direct-drive planetary joint module: low-inertia rotor and short transmission chain enable millisecond-level torque response, high-bandwidth force control, and stable dynamic tracking for legged and collaborative robotics.

Poduct Application

The PU series Quasi-direct drive (QDD) joints are primarily applied in robotic scenarios characterized by high dynamics and the need for safe interaction with the environment. Combining the transparency of direct-drive motors with the high torque of traditional gear reducers, they excel at sensing and responding to external impact forces.

Humanoid Robots

Exoskeletons/Wearable Devices

Rehabilitation Robots

Teleoperation/Force Feedback

Model	PL40	PL60	PL80	PL100
Rated torque (Nm)	2	3	11	40
Peak torque (Nm)	4	6	22	80
Maximum permissible instantaneous torque (N)	6	9	33	120
Rated speed (rpm)	60	252	140	118
Maximum speed (rpm)	170	400	330	158
Diameter (mm)	53	76	96	116
Length (mm)	42	36.5	48.5	61
Weight (kg)	0.25	0.4	0.7	1.25
Center through-hole diameter (mm)	n.a.	n.a.	n.a.	n.a.
Reduction ratio	10	6	6	10

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