--- title: "Actuator gallery by category" description: "Robot actuators grouped by drive type: QDD, integrated joints, smart servos, harmonic, cycloidal and frameless kits." canonical: https://getactuators.com/actuators last-updated: 2026-09-26T20:29:50.000Z --- # Actuator gallery by category The 68 actuators in the catalog grouped by drive type, heaviest hitters first. ## QDD / Proprioceptive Quasi-direct-drive motors with low gear ratios; backdrivable, used in legged robots. - [AK10-9 (V3.0 KV60) (CubeMars (T-Motor))](https://getactuators.com/actuators/cubemars-ak10-9): 53 Nm peak, 960 g - [AK70-10 (KV100) (CubeMars (T-Motor))](https://getactuators.com/actuators/cubemars-ak70-10): 24.8 Nm peak, 521 g - [GO-M8010-6 (Unitree)](https://getactuators.com/actuators/unitree-go-m8010-6): 23.7 Nm peak, 530 g - [GIM8108-8 (Steadywin)](https://getactuators.com/actuators/steadywin-gim8108-8): 22 Nm peak, 375 g - [AK80-9 (V3.0 KV100) (CubeMars (T-Motor))](https://getactuators.com/actuators/cubemars-ak80-9): 22 Nm peak, 485 g - [qdd100 beta 3 (mjbots)](https://getactuators.com/actuators/mjbots-qdd100): 16 Nm peak, 507 g - [CyberGear Micromotor (Xiaomi)](https://getactuators.com/actuators/xiaomi-cybergear): 12 Nm peak, 317 g - [AK80-6 (KV100) (CubeMars (T-Motor))](https://getactuators.com/actuators/cubemars-ak80-6): 12 Nm peak, 485 g - [GIM6010-8 (Steadywin)](https://getactuators.com/actuators/steadywin-gim6010-8): 11 Nm peak, 388 g - [AK60-6 (V3.0 KV80) (CubeMars (T-Motor))](https://getactuators.com/actuators/cubemars-ak60-6): 9 Nm peak, 380 g ## Integrated Joint Motor, gearbox, encoder and driver in one housing, sized for arm and humanoid joints. - [RMD-X8-120 (MyActuator)](https://getactuators.com/actuators/myactuator-rmd-x8-120): 120 Nm peak, 1400 g - [RobStride 04 (RobStride)](https://getactuators.com/actuators/robstride-04): 120 Nm peak, 1420 g - [RMD-X10-S2 V3 (1:35) (MyActuator)](https://getactuators.com/actuators/myactuator-rmd-x10-s2-v3): 100 Nm peak, n/a - [RobStride 03 (RobStride)](https://getactuators.com/actuators/robstride-03): 60 Nm peak, 900 g - [GIM6010-36 (48V) (Steadywin)](https://getactuators.com/actuators/steadywin-gim6010-36): 41 Nm peak, 574 g - [RMD-X8 Pro V2 (1:9) (MyActuator)](https://getactuators.com/actuators/myactuator-rmd-x8-pro-v2): 25 Nm peak, 710 g - [MG5010E-i36 V3 (LKMTech (LKTECH / Shanghai Lingkong))](https://getactuators.com/actuators/lkmtech-mg5010e-i36-v3): 25 Nm peak, n/a - [RobStride 01 (RobStride)](https://getactuators.com/actuators/robstride-01): 17 Nm peak, 380 g - [RobStride 02 (RobStride)](https://getactuators.com/actuators/robstride-02): 17 Nm peak, 405 g - [RobStride 00 (RobStride)](https://getactuators.com/actuators/robstride-00): 14 Nm peak, 310 g - [RMD-X6-8 V3 (MyActuator)](https://getactuators.com/actuators/myactuator-rmd-x6-8): 8 Nm peak, 490 g - [RMD-L-9015-16T (MyActuator)](https://getactuators.com/actuators/myactuator-rmd-l-9015): 3.4 Nm peak, 650 g ## Smart Servo Compact bus servos with onboard control, common in hobby and research arms. - [H54-200-S500-R (Dynamixel PRO) (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-h54-200-s500-r): 44.7 Nm peak, 855 g - [XM540-W270-T (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-xm540-w270-t): 10.6 Nm peak, 165 g - [XH540-W270-T (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-xh540-w270-t): 9.9 Nm peak, 165 g - [STS3250 (12V, 50 kg.cm) (Feetech)](https://getactuators.com/actuators/feetech-sts3250): 4.9 Nm peak, 75 g - [XM430-W350-T (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-xm430-w350-t): 4.1 Nm peak, 82 g - [STS3215 (12V, 30 kg.cm) (Feetech)](https://getactuators.com/actuators/feetech-sts3215): 2.9 Nm peak, 55 g - [ST3215 Serial Bus Servo (30 kg.cm) (Waveshare (Feetech OEM))](https://getactuators.com/actuators/waveshare-st3215): 2.9 Nm peak, 69 g - [LX-16A (Hiwonder (LewanSoul))](https://getactuators.com/actuators/hiwonder-lx-16a): 1.9 Nm peak, 52 g - [SCS15 (Feetech)](https://getactuators.com/actuators/feetech-scs15): 1.7 Nm peak, 56 g - [SC15 Serial Bus Servo (17 kg.cm) (Waveshare (Feetech OEM))](https://getactuators.com/actuators/waveshare-sc15): 1.7 Nm peak, 70 g - [XC430-W150-T (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-xc430-w150-t): 1.6 Nm peak, 65 g - [XL430-W250-T (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-xl430-w250-t): 1.5 Nm peak, 57 g - [XL330-M288-T (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-xl330-m288-t): 0.5 Nm peak, 18 g - [PH54-200-S500-R (Dynamixel-P / Pro+) (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-ph54-200-s500-r): n/a peak, 855 g - [PM54-060-S250-R (Dynamixel-P / Pro+) (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-pm54-060-s250-r): n/a peak, 855 g ## Harmonic / Precision Strain-wave (harmonic) gearing with near-zero backlash for precise positioning. - [LPA-20 (Low Profile Rotary Actuator) (Harmonic Drive LLC)](https://getactuators.com/actuators/harmonic-drive-lpa-20): 57 Nm peak, 1400 g - [FHA-14C-100 (FHA-C Mini) (Harmonic Drive LLC)](https://getactuators.com/actuators/harmonic-drive-fha-14c-100): 28 Nm peak, 1650 g - [SHA-CG series (SHA-CG Hollow Shaft Actuator) (Harmonic Drive LLC)](https://getactuators.com/actuators/harmonic-drive-sha-cg): n/a peak, n/a - [CHA series (Hollow Shaft Servo Actuator) (Harmonic Drive (Harmonic Drive SE / LLC))](https://getactuators.com/actuators/harmonic-drive-cha-series): n/a peak, n/a - [LHS series (Harmonic Drive strain-wave reducer) (Leaderdrive (Suzhou Leader Harmonic Drive))](https://getactuators.com/actuators/leaderdrive-lhs): n/a peak, n/a - [LHD series (hollow-shaft harmonic reducer) (Leaderdrive (Suzhou Leader Harmonic Drive))](https://getactuators.com/actuators/leaderdrive-lhd): n/a peak, n/a - [LCS series (cup-type harmonic reducer) (Leaderdrive (Suzhou Leader Harmonic Drive))](https://getactuators.com/actuators/leaderdrive-lcs): n/a peak, n/a - [FLEXWAVE WPG series (strain-wave gearhead) (Nidec Drive Technology (Nidec-Shimpo))](https://getactuators.com/actuators/nidec-flexwave-wpg): n/a peak, n/a - [Smart-FLEXWAVE SRH series (smart strain-wave reducer) (Nidec Drive Technology (Nidec-Shimpo))](https://getactuators.com/actuators/nidec-smart-flexwave-srh): n/a peak, n/a ## Frameless + Driver Frameless motor kits and standalone motor drivers for custom actuator builds. - [EC frameless 90 flat (260 W) (maxon)](https://getactuators.com/actuators/maxon-ec-frameless-90-flat-260w): 9.8 Nm peak, 814 g - [TQ-RoboDrive ILM85x26 (TQ-Systems (RoboDrive))](https://getactuators.com/actuators/tq-robodrive-ilm85x26): 9.4 Nm peak, 670 g - [RI80 V2.0 KV75 (CubeMars (T-Motor))](https://getactuators.com/actuators/cubemars-ri80-v2-kv75): 4.1 Nm peak, 411 g - [R60 KV115 (CubeMars (T-Motor))](https://getactuators.com/actuators/cubemars-r60-kv115): 2.3 Nm peak, 248 g - [RI60 KV120 (CubeMars (T-Motor))](https://getactuators.com/actuators/cubemars-ri60-kv120): 1.6 Nm peak, 156 g - [iPower GM8112-80T (iPower Motor (iFlight))](https://getactuators.com/actuators/ipower-gm8112-80t): 0.9 Nm peak, 428 g - [Megaflux MF0127 (frameless) (Allied Motion / Allient)](https://getactuators.com/actuators/allied-motion-megaflux-mf0127): n/a peak, n/a - [ODrive v3.6 (ODrive Robotics)](https://getactuators.com/actuators/odrive-v36): n/a peak, n/a - [ODrive S1 (ODrive Robotics)](https://getactuators.com/actuators/odrive-s1): n/a peak, n/a - [ODrive Pro (ODrive Robotics)](https://getactuators.com/actuators/odrive-pro): n/a peak, n/a - [moteus r4.11 (mjbots)](https://getactuators.com/actuators/mjbots-moteus-r4-11): n/a peak, 14 g - [moteus c1 (mjbots)](https://getactuators.com/actuators/mjbots-moteus-c1): n/a peak, 9 g - [VESC 6 MkVI (Trampa / VESC Project)](https://getactuators.com/actuators/trampa-vesc-6-mkvi): n/a peak, n/a - [TMC4671 FOC servo controller (Trinamic (Analog Devices))](https://getactuators.com/actuators/trinamic-tmc4671): n/a peak, n/a ## Cycloidal / Premium Cycloidal and RV reducers for high-torque, shock-tolerant industrial joints. - [RV-42N (RV-N cycloidal reducer) (Nabtesco)](https://getactuators.com/actuators/nabtesco-rv-42n): 2060 Nm peak, 6300 g - [Arc Series Cycloidal Joint Actuator (ATAR Robot)](https://getactuators.com/actuators/atar-arc-cycloidal-joint): 530 Nm peak, n/a - [M107 Joint Motor (Unitree Robotics)](https://getactuators.com/actuators/unitree-m107): 360 Nm peak, 1900 g - [DriveSpin DS110 (TwinSpin cycloidal) (Spinea (Cone Drive))](https://getactuators.com/actuators/spinea-drivespin-ds110): 244 Nm peak, n/a - [DM-J10010-2EC (DAMIAO (DMBots))](https://getactuators.com/actuators/damiao-dm-j10010-2ec): 150 Nm peak, n/a - [GIM8115-36 (SteadyWin)](https://getactuators.com/actuators/steadywin-gim8115-36): 54 Nm peak, n/a - [DM-J8009-2EC (DAMIAO (DMBots))](https://getactuators.com/actuators/damiao-dm-j8009-2ec): 40 Nm peak, 896 g - [SCA QDD-Lite-NE30-36 (INNFOS (Mintasca))](https://getactuators.com/actuators/innfos-sca-qdd-lite-ne30-36): 10 Nm peak, 232 g