Teardowns

What is actually inside

Disassemblies, actuator deep dives and mechanism analysis. Every teardown links back to the demos that show the same hardware in action, and forward to the tutorials that teach it.

beginner0intermediate2advanced2

17 documented findings · 4 with parts list

4 teardowns

19:00

advancedActuator Deep Dive

Unitree G1 — Actuator Deep Dive

Unitree G1

Each actuator is a self-contained module: frameless motor, reducer, encoder and driver on a shared housing.

Munro Live

33:00

advancedFull Disassembly

Unitree G1 — Full Disassembly

Unitree G1

High-torque joints use strain wave (harmonic) gearing rather than cycloidal drives, which keeps backlash low in a compact stack.

Munro Live

10:00

intermediateActuator Deep Dive

Ball-screw Joint — Design Breakdown

Custom Quadruped Joint

A ball screw converts rotary motion to linear force efficiently, which is why it competes with harmonic drives in legged joints.

HOX robotics

Series Elastic Actuator — Mechanism Analysis

4:28

intermediateMaterial Analysis

Series Elastic Actuator — Mechanism Analysis

Rehab Exoskeleton

The elastic element is in series with the load, so measured deflection is a direct force reading — no torque sensor required.

ReNeu Robotics Lab