Documentation Joint Modules
Hollow planetary joint modules designed for humanoids. Common to all models: rated voltage 24–58 V, no-load speed 200 RPM, rated output speed 100 RPM, gear ratio 19.5, CAN / CAN FD (MIT-protocol compatible), mixed torque / velocity / position control, cross-roller bearing, dual absolute encoders (16-bit magnetic input, inductive output).
| Model | Mounting OD (mm) | Height (mm) | Hollow bore (mm) | Rated torque (N·m) | Peak torque (N·m) | Peak phase current (A rms) | Inertia (kg·m²) | Weight (kg) |
|---|---|---|---|---|---|---|---|---|
| BXI5014-19 | 64.00 | 66.50 | 6 | 7 | 25 | 17 | 0.00424198 | 0.5 |
| BXI5018-19 | 64.00 | 70.50 | 6 | 11 | 35 | 22 | 0.00524292 | 0.55 |
| BXI7010-19 | 81.00 | 68.00 | 9 | 15 | 48 | 40 | 0.0137351 | 0.8 |
| BXI8515-19 | 99.00 | 73.00 | 10 | 40 | 150 | 125 | 0.044688 | 1.4 |
Placement: BXI5014-19 in the neck, shoulder (Z) and wrists; BXI5018-19 in the ankles; BXI7010-19 in the waist (Y/X), hips (Z), shoulders (Y/X) and elbows; BXI8515-19 in the waist (Z), hips (Y/X) and knees.
Values are theoretical and may vary under real operating conditions. Outline drawings and torque curves are provided on request. Joint modules are also available individually; please contact us.