[{"data":1,"prerenderedAt":130},["ShallowReactive",2],{"\u002Fen\u002Fglossary\u002Ftorque-density":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":120,"extension":121,"keywords":122,"meta":123,"navigation":124,"path":125,"seo":126,"stem":127,"updated":128,"__hash__":129},"glossary\u002Fglossary\u002Fen\u002Ftorque-density.md","Torque Density (N·m\u002Fkg)","扭矩密度",{"type":8,"value":9,"toc":114},"minimark",[10,15,33,38,41,60,92,96],[11,12,14],"h1",{"id":13},"what-is-torque-density","What Is Torque Density?",[16,17,18,22,23,26,27,32],"p",{},[19,20,21],"strong",{},"Torque density"," is the torque an actuator can deliver per kilogram of its own mass, expressed in ",[19,24,25],{},"N·m\u002Fkg",", quoted either at peak or at rated torque. It is an important ",[28,29,31],"a",{"href":30},"\u002Fen\u002Fglossary\u002Fjoint-motor","robot joint motor"," metric because actuators mounted in a limb become payload for every joint upstream.",[34,35,37],"h2",{"id":36},"how-to-compute-and-compare-it","How to Compute and Compare It",[16,39,40],{},"Torque density = output torque ÷ total actuator mass (gearbox and encoders included). Always align the basis before comparing:",[42,43,44,51,57],"ul",{},[45,46,47,50],"li",{},[19,48,49],{},"Peak vs. rated",": marketing figures are usually peak-basis, often 3× or more above the rated-basis number;",[45,52,53,56],{},[19,54,55],{},"Driver included or not",": integrated actuator modules include the drive electronics — bare-motor figures are not comparable;",[45,58,59],{},"Current integrated joint actuators typically reach 30–70 N·m\u002Fkg peak; top products exceed 100 N·m\u002Fkg.",[16,61,62,63,67,68,72,73,76,77,81,82,86,87,91],{},"For the BXI ",[28,64,66],{"href":65},"\u002Fen\u002Fmotors\u002Fadvanced-motors","85\u002F70\u002F50 series"," (peak basis): the ",[28,69,71],{"href":70},"\u002Fen\u002Fmotors\u002Fbxi8515-19","BXI8515-19"," delivers 150 N·m ÷ 1.4 kg ≈ ",[19,74,75],{},"107 N·m\u002Fkg",", the ",[28,78,80],{"href":79},"\u002Fen\u002Fmotors\u002Fbxi7010-19","BXI7010-19"," 50 N·m ÷ 0.8 kg ≈ 63 N·m\u002Fkg, the ",[28,83,85],{"href":84},"\u002Fen\u002Fmotors\u002Fbxi5018-19","BXI5018-19"," ≈ 64 N·m\u002Fkg, and the ",[28,88,90],{"href":89},"\u002Fen\u002Fmotors\u002Fbxi5014-19","BXI5014-19"," 50 N·m\u002Fkg.",[34,93,95],{"id":94},"where-high-torque-density-comes-from","Where High Torque Density Comes From",[16,97,98,99,103,104,108,109,113],{},"A large-diameter, high-pole-count outrunner torque motor provides the base torque; a ",[28,100,102],{"href":101},"\u002Fen\u002Fglossary\u002Fplanetary-gearbox","planetary gearbox"," multiplies it at low added mass. The ",[28,105,107],{"href":106},"\u002Fen\u002Fglossary\u002Fquasi-direct-drive","quasi-direct-drive (QDD)"," approach uses a low-to-medium reduction ratio to balance torque density against backdrivability, while ",[28,110,112],{"href":111},"\u002Fen\u002Fglossary\u002Fharmonic-drive","harmonic drives"," can quote higher density figures at the cost of impact tolerance and backdrivability.",{"title":115,"searchDepth":116,"depth":116,"links":117},"",2,[118,119],{"id":36,"depth":116,"text":37},{"id":94,"depth":116,"text":95},"Torque density measures actuator torque per unit mass. It helps compare joint weight, payload capacity, and dynamic performance.","md","torque density, Nm\u002Fkg, robot actuator metric, torque-to-weight ratio, joint motor selection",{},true,"\u002Fglossary\u002Fen\u002Ftorque-density",{"title":5,"description":120},"glossary\u002Fen\u002Ftorque-density",null,"zX6KLQ8QPigYB3Sofy6MHXyd_zOCs9z5y3uva-gWOeY",1785156467490]