L5 · 3D teardown

Integrated robot joint

Separate fourteen parts around a hollow axis. Follow power, torque and dual-encoder feedback.

Drag to rotate · Scroll to zoom · Click a part for detailsDrag to rotate · Pinch to zoom · Tap a part for details

Original hollow robot joint exploded schematic showing a motor, harmonic reducer, dual encoders, brake, driver board, bearing, housing and covers.

Selected part Motor stator

Winding currents establish the magnetic field that interacts with the rotor to produce torque.

The image retains the default explosion; the 2D layer diagram follows separation and selection

Exploded separation100%

AssembledExploded

Separation changes display spacing only. It does not simulate operation, transmission or manufacturing tolerance.

Keyboard controls

Arrow keys orbit, plus and minus zoom, Home resets the view. Tab moves between parts and flow nodes; Enter or Space selects. Arrow keys adjust separation.

2D layer schematic

Selected part: Motor stator

Full module: motor, reducer, dual encoders, brake and driver integrated around a hollow axis.

Preparing the 3D view. Part details, the flow diagram and separation control are available.

Original generic topology · hollow integration · no transmission animation

Selected part

Motor stator电机定子

Role: Winding currents establish the magnetic field that interacts with the rotor to produce torque.
Features: Includes a laminated yoke, teeth and separate winding envelopes; electromagnetic fields and torque are not calculated.
Common materials: electrical-steel laminations, copper windings and insulation

Power, torque and feedback

Select a node to locate its corresponding part in the module.

Selected partMotor stator

The motor node includes stator and rotor. The stator establishes the rotating field; the rotor transmits torque to the reducer. Selecting either part highlights this node.

Electrical power
Mechanical torque
Feedback signal
Brake control

Solid: power; thick solid: torque; dashed: feedback; dash-dot: brake control. Arrows show nominal motoring direction; regenerative operation is omitted.

Static schematic. All part details remain below; enable JavaScript for linked selection and separation.All parts

Housing

Role: Provides a stationary frame, enclosure and heat-transfer path.
Features: The annular shell surrounds the stator and transmission; internal mode hides it and explosion moves it aside.
Common materials: aluminium alloy

Motor stator

Role: Winding currents establish the magnetic field that interacts with the rotor to produce torque.
Features: Includes a laminated yoke, teeth and separate winding envelopes; electromagnetic fields and torque are not calculated.
Common materials: electrical-steel laminations, copper windings and insulation

Motor rotor

Role: Transfers motor torque through a hollow input sleeve to the reducer.
Features: Includes a magnet ring, back iron, connecting web and input sleeve; the central passage remains open and rotation is not animated.
Common materials: steel, permanent-magnet material and structural alloy

Harmonic reducer

Role: Provides the reduction-transmission interface between motor and output flange.
Features: Static rings represent the circular spline, cup flexspline and wave generator; meshing, elastic deformation and ratio are not solved.
Common materials: alloy steel and bearing steel

Motor incremental encoder

Role: Measures relative motor-side position and speed for motor control feedback.
Features: A graduated ring and fixed readhead illustrate incremental measurement. Initial referencing and auxiliary commutation signals are omitted; resolution is unspecified.
Common materials: metal scale ring, semiconductors and encapsulation resin

Output absolute encoder

Role: Measures position after the reducer and provides independent output feedback to the driver.
Features: A magnetic target, fixed sensor and annular circuit board illustrate measurement; they carry no drive power and specify no accuracy.
Common materials: magnetic material, glass-epoxy board and encapsulation resin

Power-off holding brake

Role: Restrains the motor input side with power-off holding force after a controlled stop.
Features: Coil body, friction disc and armature depict a spring-applied, electrically released topology; emergency-stop capability is not claimed.
Common materials: steel, copper winding and friction material

Driver board

Role: Converts DC bus power into motor phase currents and processes feedback and brake-release control.
Features: The annular PCB distinguishes power-stage and controller packages; the external bus, wiring and safety circuit are not modeled.
Common materials: glass-epoxy board, copper and semiconductor packaging

Cross-roller bearing

Role: Supports rotation between the stationary enclosure and output assembly.
Features: Inner and outer races surround alternating crossed rollers; preload, stiffness, contact stress and capacity are not calculated.
Common materials: bearing steel

Hollow cable conduit

Role: Provides a continuous protected cable passage through the joint center.
Features: This model uses a stationary conduit inside the rotating input and output sleeves; cables and seals are omitted.
Common materials: stainless steel or aluminium alloy

Thermal interface sleeve

Role: Represents heat transfer between the stator outer surface and the housing inner wall.
Features: The annular interface connects stator and housing, rather than sitting under the driver PCB; thickness and thermal resistance are schematic.
Common materials: electrically insulating elastomer with thermally conductive filler

Front cover

Role: Closes the output-side housing around the rotating output neck.
Features: A stationary ring independent of the output flange; internal mode hides it, and seals and fasteners are omitted.
Common materials: aluminium alloy

Rear cover

Role: Closes the driver side while retaining a central cable opening.
Features: The stationary cover separates axially and is hidden in internal mode; no ingress-protection rating is specified.
Common materials: aluminium alloy

Output flange

Role: Connects to the reducer output and provides the mechanical load interface.
Features: The output sleeve, flange face and hollow neck form a rotating assembly separate from the stationary front cover.
Common materials: alloy steel or aluminium alloy