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Q Series

Actuators for humanoids, designed for strong torque and shock absorption.

Q Motors

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QC050

QC050

110 W quasi direct drive humanoid actuator, 2.5 N·m continuous, 8.0 N·m peak.

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QC060

QC060

200 W quasi direct drive humanoid actuator, 10.6 N·m continuous, 30.0 N·m peak.

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QC080

QC080

240 W quasi direct drive humanoid actuator, 24.2 N·m continuous, 72.6 N·m peak.

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QC100

QC100

430 W quasi direct drive humanoid actuator, 51.6 N·m continuous, 166.2 N·m peak.

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Q Series

DYNAMIXEL Q

Overview

DYNAMIXEL Q is the ROBOTIS quasi direct drive (QDD) actuator line for humanoids. ROBOTIS highlights its elasticity, strong peak torque and shock absorption.

Position, velocity, torque and impedance control modes are supported.

Used in AI Sapiens

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  • 166 N·mPeak torque (QC100)
  • 48 VInput voltage
  • < 10′Backlash
  • 4Control modes

Key Features

Quasi direct drive

QDD actuators with a frameless BLDC motor. Gear ratios are 25:1 on the QC050 and 20:1 on the other QC models.

Four control modes

Position, velocity, torque and impedance control.

Hollow shaft

Hollow shaft sizes range from Ø4 to Ø9 mm, depending on the model.

RS485 bus

RS485 multidrop bus, 9,600 bps to 8 Mbps, with up to 253 IDs.

Encoders

A motor encoder plus a 65,536 pulse/rev output encoder.

Models & Specifications

Specifications

QC050QC060QC080QC100
Power110 W200 W240 W430 W
Continuous torque2.5 N·m10.6 N·m24.2 N·m51.6 N·m
Maximum torque8.0 N·m30.0 N·m72.6 N·m166.2 N·m
Continuous speed120 rpm150 rpm95 rpm80.3 rpm
No load speed240 rpm200 rpm110 rpm88 rpm
Gear ratio25 : 120 : 120 : 120 : 1
Weight250 g455 g865 g1,810 g
Size (D x H)Ø46 x 52 mmØ58 x 60 mmØ78 x 65 mmØ98 x 82 mm
Hollow shaftØ4 mmØ5 mmØ7 mmØ9 mm
Continuous / max current2.75 / 8.8 A6.7 / 19.0 A7.5 / 22.5 A10.5 / 33.8 A

Common to all models

ItemValue
MCUARM Cortex-M33, 250 MHz
MotorFrameless BLDC
Input voltage48 V
Backlash< 10 arcmin
Operating temperature-5 to +55 °C
CommunicationRS485 multidrop, 9,600 bps to 8 Mbps
IDs253 (0 to 252)
Standby current13 mA

Specifications are preliminary and may change.

Where it fits

  • Humanoid robots
  • Dynamic balancing and manipulation (as described for AI Sapiens)

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