---
title: "Robots and the actuators inside them"
description: "Which motor sits in each joint of real robot arms and legged robots, linked to actuator specs."
canonical: https://getactuators.com/robots
last-updated: 2026-09-26T20:29:50.000Z
---
# Robots and the actuators inside them

6 robots with the motor used in each joint, linked to the actuator spec sheet where the catalog has one. Use it to see which parts real builds rely on.

## YAM by i2RT Robotics

Low-cost 6-DOF manipulator built for imitation learning and teleoperation data collection. CNC 6061 billet frame, integrated cross-roller bearings, 95 mm patent-pending gripper.

- Brand: i2RT Robotics (China)
- Degrees of freedom: 6
- Payload: 2 kg
- Reach: 750 mm
- Weight: 5.02 kg
- Price: $2,999

| Joint | Count | Motor | Peak torque |
| --- | --- | --- | --- |
| Shoulder (J1-J3) | 3 | Damiao (DMBots) Damiao DM-J4340-2EC | 27 Nm |
| Elbow + wrist (J4-J6) | 3 | Damiao (DMBots) Damiao DM-J4310-2EC | 7 Nm |

## YAM Pro by i2RT Robotics

Same motor set and SDK as the base YAM; the control-law difference is a stiffer J4 position gain plus build refinements. Interchangeable with Standard and Ultra in the SDK.

- Brand: i2RT Robotics (China)
- Degrees of freedom: 6
- Payload: 2 kg
- Reach: 750 mm
- Weight: n/a
- Price: $3,499

| Joint | Count | Motor | Peak torque |
| --- | --- | --- | --- |
| Shoulder (J1-J3) | 3 | Damiao (DMBots) Damiao DM-J4340-2EC | 27 Nm |
| Elbow + wrist (J4-J6) | 3 | Damiao (DMBots) Damiao DM-J4310-2EC | 7 Nm |

## YAM Ultra 2 by i2RT Robotics

Enhanced build of the 6-DOF YAM with the same Damiao motor chain and SDK as Standard and Pro, tuned for higher-duty data collection.

- Brand: i2RT Robotics (China)
- Degrees of freedom: 6
- Payload: 2 kg
- Reach: 750 mm
- Weight: n/a
- Price: $4,299 to $4,399

| Joint | Count | Motor | Peak torque |
| --- | --- | --- | --- |
| Shoulder (J1-J3) | 3 | Damiao (DMBots) Damiao DM-J4340-2EC | 27 Nm |
| Elbow + wrist (J4-J6) | 3 | Damiao (DMBots) Damiao DM-J4310-2EC | 7 Nm |

## BIG YAM by i2RT Robotics

Heavier-payload 6-DOF variant. Uses DM6248 motors at the shoulders with substantially different control gains and a reversed joint 2; the only YAM whose SDK gains differ meaningfully from Standard.

- Brand: i2RT Robotics (China)
- Degrees of freedom: 6
- Payload: 4 kg
- Reach: 1100 mm
- Weight: n/a
- Price: $4,999

| Joint | Count | Motor | Peak torque |
| --- | --- | --- | --- |
| Shoulder (J1-J2) | 2 | Damiao (DMBots) Damiao DM-J6248-2EC | 97 Nm |
| Upper arm (J3-J4) | 2 | Damiao (DMBots) Damiao DM-J4340-2EC | 27 Nm |
| Wrist (J5-J6) | 2 | Damiao (DMBots) Damiao DM-J4310-2EC | 7 Nm |

## YAM 7 by i2RT Robotics

7-DOF member of the YAM family with an added redundant joint for richer wrist orientation. Per-joint motor list not published in the SDK docs yet.

- Brand: i2RT Robotics (China)
- Degrees of freedom: 7
- Payload: 4 kg
- Reach: 803 mm
- Weight: 6.64 kg
- Price: $4,999 to $9,999

| Joint | Count | Motor | Peak torque |
| --- | --- | --- | --- |

## YAM Leader by i2RT Robotics

Teleoperation leader arm: the operator backdrives it to puppeteer a follower YAM (GELLO-style). Runs the same motor-chain SDK; its joint motor list is not published separately.

- Brand: i2RT Robotics (China)
- Degrees of freedom: 6
- Payload: n/a
- Reach: n/a
- Weight: n/a
- Price: $2,999

| Joint | Count | Motor | Peak torque |
| --- | --- | --- | --- |