Power, thoughtfully
transmitted.
Two planetary stages bring a 4:1 and a 5:1 reduction into one architecture. Packaging, reflected inertia, and manufacturability are considered together.
MOTOR → TRANSMISSION → OUTPUTENGINEERING THE PHYSICAL WORLDTD / RESEARCH SERIES 001
Intelligence
needs motion.
We’re building the actuators that turn
robotic intelligence into physical capability.
A20 / DESIGN VISIONA20 RESEARCH PLATFORM20:1 GEAR REDUCTION48 V NOMINAL DESIGN SUPPLYR0 GEOMETRY & SIZING STUDY
01 / THE PLATFORMEXPLORING WHAT COMES NEXT
Small assembly.
Extraordinary ambition.
Every movement begins at the joint. The A20 is our research platform for bringing the motor, transmission, and structure into one considered system.
TERRAN A20R0 · Research CAD
Preparing the research assembly
76 modeled componentsACTUAL ENGINEERING GEOMETRY
20:1 NESTED PLANETARY ARCHITECTURE
20:1 NESTED PLANETARY ARCHITECTURE
Components separated to reveal the nested architecture.
DRAG TO ROTATE
Original research geometry. Supplier motor geometry is included for context.
Concept imagery in the opening section is an artistic design vision.
02 / OUR APPROACHTHE WHOLE JOINT. ONE SYSTEM.
The future won’t
move itself.
Smarter robots need better physical foundations. We’re investigating how every part of an actuator can work better together—from the path of a load to the path of heat.
Power, thoughtfully
Heat is part
of the design.
A direct stator-to-aluminum path puts thermal management into the structure. Sustained performance begins with understanding where the energy goes.
THERMAL PATH / STRUCTURAL INTEGRATIONBuilt around
the real world.
Conventional materials, clear assembly interfaces, and machining-aware geometry. Progress means a design we can manufacture, measure, and improve.
DESIGN → BUILD → MEASURE → REPEAT03 / ENGINEERING PARAMETERSA20 — REVISION R0
IN DEVELOPMENTAmbition.
Ambition.
With a
baseline.
Good engineering starts with explicit assumptions. These are the parameters of our current A20 investigation.
Download the research brief ↓| Architecture | Nested planetary |
|---|---|
| Reduction | 20:1 4:1 × 5:1 |
| Nominal design supply | 48 V Regulated bench bus |
| Maximum flange diameter | 144 mm |
| Modeled CAD mass | 4.85 kg Incomplete assembly |
| Modeled components | 76 |
| Development stage | Geometry & sizing |
R0 is an unvalidated research design. Loaded performance, thermal behavior, fatigue life, and manufacturing tolerances remain to be verified. No production availability or performance rating is implied.
04 / BUILD WITH TERRANTHE NEXT MOVE IS OURS.
Let’s move
the physical world.
Building a robot? Working on a demanding joint?
Let’s start with the problem you need to solve.
ROBOTIC ACTUATIONENGINEERED WITH INTENT.