Bore
Harness bend radius and connector passage through the joint.
ROBOTICS & EXOSKELETONS
Pancake Motors for Cobots & Exoskeletons
Keep the joint shallow, preserve the cable passage and specify backdrivability at the complete joint. Start from the mechanical section and human-interaction duty.
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Before selecting a winding
Resolve the installed envelope first.
Joint depth
Motor, reducer, encoder, brake and retaining hardware together.
Smoothness
Backdrive torque, friction and low-speed ripple at the output.
Use a frameless kit where the joint already supplies support
The joint housing can locate the stator while existing bearings locate the rotor. Review air-gap variation under joint loads and the complete tolerance stack. A compact motor cannot compensate for structural deflection or an inadequate bearing arrangement.
Define backdrivability and thermal contact together
Exoskeleton and collaborative applications may place the motor near people. Surface temperature, friction and power-off behavior need explicit targets. Functional safety is a system-level responsibility; a motor selection alone does not establish a safe human-interaction device.
Questions before freezing the drawing
Can high-temperature magnets make a joint safe to touch?
No. Magnet temperature capability and accessible surface temperature are different requirements. Validate heat flow, insulation and operating duty in the assembled joint.