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Inverse-QDD Actuator

Inverse-QDD uses a small, high-KV BLDC motor with a high reduction ratio of 36:1. The main rotor is surrounded by a cycloidal reducer, unlike other QDDs, which have the reducer inside the rotor. For a planetary gear, the center rotor has to be integrated with the sun gear, so the reduction ratio cannot be higher than approximately 5:1. To achieve such a high reduction ratio, a cycloidal reducer is required.