Motor Design
- Hollow-shaft frameless torque motors for rotating joints
- Precision coiled winding for lower copper loss
- Ultra-thin slot insulation, high-flux-density electrical steel
Application solution · HUMANOID JOINTS
Humanoid Robotics Motion Platform
Quick answer
What components make up a humanoid robot joint module?
A humanoid joint module usually combines a frameless torque motor, joint driver, gearbox and encoder; some leg designs also need linear actuators. The review matches Kinco hollow-shaft motors, dual-encoder drivers, planetary joints and linear actuators to torque, ratio, feedback, thermal and packaging needs.
Humanoid robot OEMs evaluating joint modules that combine hollow-shaft frameless motors, dual-encoder drivers, planetary-gearbox joints and optional linear actuators.
Reference architecture · Model-specific review
Control problem
What must this application control?
Joint Driver
- EtherCAT (CoE per CiA402 with CSP/CSV/CST modes), CANopen, CAN FD support
- Distributed Clock with ≤1 µs multi-axis sync jitter
- Control loops: 8 kHz position, 16 kHz velocity & current
Gearbox & Encoder
- Planetary gearbox with ≤10 arcmin backlash
- Full grinding process for GB5 grade accuracy; gear skiving for GB6
- Lower starting torque, 30K lower steady-state temperature rise
How the control stack fits together
Four scoping blocks show the review path; they are not a wiring diagram.
- Step 1
Joint load boundary
Size each joint from peak torque, continuous torque, range of motion and ambient temperature.
- Step 2
Motor & gearbox
Review the hollow-shaft frameless motor and planetary integrated-joint selection against the required joint envelope and backlash.
- Step 3
Drive & feedback
Confirm EtherCAT, CANopen or CAN FD together with the required motor-side or optional dual-encoder feedback.
- Step 4
Cabling & assembly
Review encoder-cable shielding and separation from motor power, dedicated encoder cabling and any required joint-assembly service.
Bill of materials
Use this table to compare component roles, exact model names and key specifications before application review.
| Role | Component | Key spec |
|---|---|---|
| MOTOR | Kinco Hollow-Shaft Frameless Motor | Per-joint sizing · 0.5–2% torque ripple |
| DRIVE | Kinco Joint Driver | EtherCAT/CANopen/CAN FD · ≤1µs sync · optional dual encoder |
| JOINT | Kinco Integrated Planetary Joint | ≤10 arcmin backlash · compact height with high ratio |
| ACTUATOR | Kinco Linear Actuator (leg modules) | Motor + full actuator assembly service |
| ENCODER | Kinco Dual Encoder (option) | BiSS-C / SSI / Tamagawa · 17–23 bit · ≤±1 arcsec repeat |
Configuration summary. A candidate joint-module stack combines hollow-shaft frameless motors, planetary joints, dual-encoder drivers and optional linear actuators. Driver options include EtherCAT, CANopen and CAN FD, 8/16 kHz loops and ≤1 µs EtherCAT synchronization jitter; achieved synchronization depends on the full control chain.
This is a candidate architecture, not a quotation. an engineering BOM review checks each line against your machine, and PLC and HMI programming scopes the control work once the hardware is agreed.
What changes the component choice?
What we check
- Selection: Joint sizing driven by required peak torque, continuous torque, range of motion, and ambient temperature.
- Selection: Evaluate EtherCAT Distributed Clocks when the target synchronization jitter is ≤1 µs; validate the master, topology, device clocks and complete control chain before specifying the result.
- Selection: Dual-encoder option recommended for joints where output-side position must be verified independently of motor-side.
- Selection: Linear actuator assembly service available for OEMs avoiding in-house mechanical integration of legs.
- Wiring / protocol: EtherCAT topology with distributed clock enabled for multi-axis sync
- Wiring / protocol: Encoder cable shielded and routed separately from motor power
- Wiring / protocol: CAN FD baud rate selection depends on joint count and update period
- Wiring / protocol: BiSS-C / SSI encoders require dedicated cable specifications for stability at high RPM
- Migration: OEMs sourcing motor / drive / gearbox separately may need mechanical re-design for integrated joint envelope.
- Migration: Existing motion control firmware referencing other-vendor encoder protocols may need adaptation.
- Migration: Joint assembly service replaces in-house assembly line — supply chain integration affects QC sign-off process.
Where it may not fit
- Robots requiring proprietary actuator types not in Kinco's portfolio (e.g., hydraulic, pneumatic muscles)
- Applications where joint-level safety certification (PLe/SIL3) is required but Kinco joint driver doesn't yet carry that rating in the chosen variant — verify
- Research projects requiring full firmware-level open source on joint drivers
- Component certificates do not certify the finished machine; the responsible builder or integrator retains system-level validation.
Frequently asked
Are named humanoid robotics customer references available?
No named OEM relationships or case studies are verified for public use. Ask for a reviewed reference that matches your joint type, torque range and production stage.
How is joint-module capacity confirmed?
Current capacity, model allocation, MOQ and delivery terms are confirmed for the exact request at RFQ.
What multi-axis synchronization accuracy is achievable?
The joint-driver specification lists EtherCAT Distributed Clock with multi-axis synchronization jitter of ≤1 µs. The achieved result depends on the master, topology, device clocks and full control chain.
Application review
Check this architecture against your machine
Send the payload, duty, voltage, protocol, safety scope and any existing part numbers you already know.
Limits. These figures describe the stated configuration, not Automation Liberty customer results. This is a candidate architecture; exact model, compatibility, certification, availability and commercial scope are subject to engineering review and confirmed at RFQ.
Independent engineering and sourcing partner. Product names and trademarks are the property of their respective owners and are used for identification only.
Why no list price? Every quote follows an engineering review of your application — you get a validated price, not a catalog number.