SG-6010HB Compact Planetary Joint Actuator¶

Product Overview¶

SG-6010HB is a compact planetary joint motor published by SigGear for exoskeleton joint applications. The current catalog configuration combines a BLDC motor with a 9.67:1 planetary reduction stage in a 67.0 mm outer-diameter, 25.57 mm-thick package.

The exoskeleton label is the catalog application positioning for this model. It is not a statement that the product is limited to exoskeletons. SG-6010HB can also be evaluated for other compact joint-drive or wearable-robot mechanisms when the published torque, speed, size, voltage and load limits match the project.

View SG-6010HB Datasheet View Mechanical Interface View Thermal Test Record View Driver & Communication Exoskeleton Joint Selection Guide Request Engineering Review

Product Identity¶

Item	Description
Model	SG-6010HB
Product type	Compact planetary joint motor / actuator
Transmission structure	Planetary structure
Catalog application positioning	Exoskeleton joint motor
Reduction ratio	9.67:1

Key Specifications¶

Parameter	Value
Transmission structure	Planetary structure
Outer diameter	67.0 mm
Product thickness	25.57 mm
Reduction ratio	9.67:1
Backlash	15–20 arcmin
Motor power	328 W
Rated voltage	12–48 V
Rated output speed	310 rpm
No-load output speed	400 rpm
Rated output torque	6 Nm
Peak output torque	18 Nm
Weight	298.5 g
Allowable radial force	250 N
Allowable axial force	100 N

Peak torque is not a continuous operating rating. Peak duration, repeated duty cycle and thermal suitability must be confirmed for the actual application.

Compact Packaging¶

SG-6010HB has a published:

67.0 mm outer diameter
25.57 mm product thickness
298.5 g product weight

These values make it a useful reference platform for wearable and compact joint mechanisms where axial thickness and mass are important design constraints.

The current SG2908B controlled drawing has now been reviewed and a public Mechanical Interface summary is available. The controlled production drawing itself remains configuration-controlled.

Transmission Parameters¶

Parameter	Value
Gear structure	Planetary structure
Reduction ratio	9.67:1
Backlash	15–20 arcmin

Motor and Electrical Parameters¶

Parameter	Value
Motor power	328 W
Rated voltage	12–48 V
Phase damping	224 µΩ
Phase inductance	235 µH
Phase current full scale	33 A
Rated bus current	12 A
Static working bus current	0.08 A
Motor structure	18N20P
Motor torque constant	0.0606 Nm/A
Thermistor	10 kΩ B3435 ±1%
NTC B value	3435
Back EMF constant	0.0727 Vs/rad
Motor KV value	104 KV (catalog notation)

Note

Phase damping and 104 KV are retained from the current product-catalog terminology. If these values are required for controller design, confirm the electrical definition and units with SigGear engineering before final integration.

Load Capacity¶

Parameter	Value
Allowable radial force	250 N
Allowable axial force	100 N

External load suitability depends on the installation geometry, load offset, joint structure and duty cycle. Final mechanical design should be reviewed against the project mounting arrangement.

Driver, Encoder and Communication¶

SigGear has confirmed that the current driver-equipped SG-6010HB configuration uses the SG6010 driver platform documented in the current SG6010 user manual.

The confirmed platform provides:

16-bit single-turn absolute main encoder
CAN Simple
CANopen with CiA301 / CiA302 / CiA402 implementation
RS485 / Modbus RTU when the corresponding interface configuration is supplied
Position control
Velocity control
Torque control
MIT-style motion control
USB Type-C debugging / host communication
Second-encoder interface using I2C or UART

View SG-6010HB Driver & Communication Reference

The driver manual specifies 15–48 V DC as the rated driver range, while the SG-6010HB catalog lists 12–48 V for the actuator. Therefore a 12 V supply should not automatically be treated as a rated operating point for the driver-equipped system.

Final driver hardware revision, firmware, second encoder, connector set, current limits, brake function and any expansion interface still require order-level confirmation.

Exoskeleton and Wearable-Robot Evaluation¶

The SigGear catalog explicitly identifies SG-6010HB as an exoskeleton joint motor.

For an exoskeleton or wearable robot project, evaluate at least:

Joint position: hip, knee, ankle, shoulder, elbow or auxiliary axis
Continuous assistance torque
Peak torque and allowed peak duration
Required output speed and range of motion
Maximum joint diameter, thickness and mass
Radial / axial / overturning load path
Backdrivability or holding behavior
Driver, encoder and communication architecture
Duty cycle, ambient temperature and heat path
Power-off safety strategy

Open the Exoskeleton Joint Selection Guide

Other Potential Joint Applications¶

SG-6010HB is not restricted to exoskeletons. The same compact planetary motor-reducer architecture may be evaluated for:

Rehabilitation and wearable-assistance mechanisms
Compact robotic joints
Research robot joints
Low-profile actuator modules
Custom human-assist mechanisms

Suitability for any application must be confirmed from the actual torque-speed cycle, packaging, load direction and control requirements.

Engineering Resources¶

SG-6010HB Technical Datasheet v1.0

A public Mechanical Interface reference is available from the reviewed SG2908B controlled drawing.

A source-backed Thermal Test Record is also available with measured 30°C-to-100°C heating times under stall and 110 rpm load conditions. The test record is supporting evidence only and does not redefine the published continuous or peak ratings.

For the current driver-equipped configuration, see the Driver & Communication Reference for encoder, CAN, CANopen, RS485 and control-mode information.

The detailed SG6010HB assembly STEP contains internal motor and planetary-transmission geometry and therefore remains request-only. No raw internal assembly CAD is published in this repository.

For final design-in, request the current controlled drawing / configuration-matched CAD.

Request SG-6010HB CAD / Drawing

Selection Information Required¶

Please provide:

Application and joint position
Rated and peak torque requirement
Required output speed
Operating voltage
Maximum diameter, thickness and weight
Duty cycle
Radial / axial / overturning load condition
Driver and encoder requirements
Communication interface
Brake / power-off behavior
Prototype quantity and estimated annual quantity

Robot Joint Actuators Exoskeleton Joint Actuators and Gearboxes Motor + Gearbox Integration Engineering Custom Robot Joint Development Request CAD, Sample and Quote

Contact SigGear¶

Wanrong Wang
International Sales / Sales Engineer, SigGear
wangwanrong@siggear.com