---
title: "Unitree GO-M8010-6 joint motor: bill of materials"
description: "Quasi-direct-drive joint motor from the Go1 quadruped, 6.33:1: what is inside, who makes each part, cost against raw material and who keeps the margin. No supplier margin sits between the metal and the shelf: the bought-in chips come to about $4, and almost everything else is Unitree's own step."
canonical: https://actuatorlist.com/bom/unitree-qdd
last-updated: 2026-11-07
---
# Unitree GO-M8010-6 joint motor

Quasi-direct-drive joint motor from the Go1 quadruped, 6.33:1. A cheap, high-volume joint: one company designs the motor, gearbox and driver, so the chain has few hand-offs.

- Price: $369[^2]. Retail price for one unit on Unitree's shop.
- Raw material in it: $3.13 at 2026-09 prices, so an idiot index of 118x.
- No supplier margin sits between the metal and the shelf: the bought-in chips come to about $4, and almost everything else is Unitree's own step.
- Catalog entry: [GO-M8010-6](https://actuatorlist.com/actuators/unitree-go-m8010-6.md).
- Published mass: 530 g[^1].

Interactive page: https://actuatorlist.com/bom/unitree-qdd (deep link `#node=<id>`). JSON: https://actuatorlist.com/api/v1/bom/unitree-qdd. As of November 2026.

## Bill of materials

Unit cost is what the next tier pays for one unit. Raw material and the idiot index cover all units in one actuator. Idiot index is unit cost over raw-material cost; step is unit cost over the cost of its inputs, shown only where every input has a cost. Masses come from our model of each part's geometry, not from a scale. "Typical maker" means the real supplier is not public and a listed maker of that part stands in for its margin.

| Node | Qty | Mass | Unit cost | Raw material | Idiot index | Step | Maker, gross margin |
| --- | --- | --- | --- | --- | --- | --- | --- |
| GO-M8010-6 joint motor (`unitree-qdd`)[^1][^2][^3] | 1 | 556 g (model) | $369[^2] | $3.13 | 118x | n/a | Unitree Robotics, margin 60%[^3] |
| · Outrunner motor (`motor`)[^4] | 1 | 281 g (model) | not public | $2.47 | n/a | n/a | Unitree Robotics, margin 60%[^3] |
| · · Stator (`stator`) (inferred)[^4] | 1 | 196 g (model) | not public | $1.03 | n/a | n/a | not public |
| · · · Lamination stack (`stator-core`) (inferred)[^4] | 1 | 110 g (model) | not public | $0.07 | n/a | n/a | not public |
| · · · Copper windings (`stator-winding`) (inferred)[^4] | 1 | 62 g (model) | not public | $0.88 | n/a | n/a | Jiangxi Copper (typical maker, stands in) |
| · · · Stator hub (`stator-hub`) (inferred)[^4] | 1 | 25 g (model) | not public | $0.08 | n/a | n/a | not public |
| · · Outer rotor (`rotor`) (inferred)[^4] | 1 | 85 g (model) | not public | $1.44 | n/a | n/a | not public |
| · · · NdFeB magnets (`rotor-magnet`) (inferred)[^4] | 1 | 30 g (model) | not public | $1.37 | n/a | n/a | not public |
| · · · Rotor back iron (`rotor-cup`) (inferred)[^4] | 1 | 40 g (model) | not public | $0.02 | n/a | n/a | not public |
| · · · Rotor end plate (`rotor-plate`) (inferred)[^4] | 1 | 15 g (model) | not public | $0.05 | n/a | n/a | not public |
| · Planetary gear stage (`planetary`)[^4][^1] | 1 | 107 g (model) | not public | $0.07 | n/a | n/a | Unitree Robotics, margin 60%[^3] |
| · · Sun gear (`sun-gear`) (inferred)[^4] | 1 | 4 g (model) | not public | $0.00 | n/a | n/a | not public |
| · · Planet gear (`planet-gears`) (inferred)[^4] | 3 | 46 g (model) | not public | $0.03 | n/a | n/a | not public |
| · · Planet pin (`planet-pins`) (inferred)[^4] | 3 | 1 g (model) | not public | $0.00 | n/a | n/a | not public |
| · · Planet needle bearing (`planet-needles`) (inferred)[^4] | 3 | 2 g (model) | not public | $0.00 | n/a | n/a | not public |
| · · Ring gear (`ring-gear`) (inferred)[^4] | 1 | 26 g (model) | not public | $0.02 | n/a | n/a | not public |
| · · Planet carrier (`planet-carrier`) (inferred)[^4] | 1 | 29 g (model) | not public | $0.02 | n/a | n/a | not public |
| · FOC driver board (`driver-board`) (inferred)[^5][^6] | 1 | 7 g (model) | not public | $0.10 | n/a | n/a | Unitree Robotics, margin 60%[^3] |
| · · Bare circuit board (`bare-board`) (inferred)[^4] | 1 | 3 g (model) | not public | $0.04 | n/a | n/a | not public |
| · · Motor-control MCU (`mcu`) (inferred)[^5] | 1 | 0.00 g (model) | $0.8-1.1[^7] (model, 2025) | $0.00 | 63,877x | 63,877x | Cmsemicon (reported by analysts or press) |
| · · Gate driver (`gate-driver`) (inferred)[^4] | 1 | 0.00 g (model) | $0.25-0.36[^8] (model, 2025) | $0.00 | 57,490x | 57,490x | not public |
| · · Dual power MOSFET (`power-mosfets`) (inferred)[^4] | 3 | 0.01 g (model) | $0.25-0.31[^9] (model, 2025) | $0.00 | 26,616x | 26,616x | not public |
| · · RS-485 transceiver (`rs485-transceiver`) (inferred)[^4] | 1 | 0.00 g (model) | $0.12-0.19[^10] (model, 2025) | $0.00 | 38,326x | 38,326x | not public |
| · · Power and bus leads (`leads`) (inferred)[^1] | 1 | 5 g (model) | not public | $0.06 | n/a | n/a | not public |
| · Magnetic encoder (`magnetic-encoder`) (inferred)[^5] | 1 | 0.53 g (model) | not public | $0.02 | n/a | n/a | not public |
| · · Angle sensor chip (`encoder-chip`) (inferred)[^5] | 1 | 0.00 g (model) | $2.07-4.41[^11] (model, 2025) | $0.00 | 220,377x | 220,377x | not public |
| · · Diametric magnet (`encoder-magnet`) (inferred)[^4] | 1 | 0.53 g (model) | not public | $0.02 | n/a | n/a | not public |
| · Ball bearing (`bearings`) (inferred)[^4] | 2 | 16 g (model) | not public | $0.01 | n/a | n/a | not public |
| · Housing (`housing`) (inferred)[^4] | 1 | 145 g (model) | not public | $0.45 | n/a | n/a | Unitree Robotics, margin 60%[^3] |
| · · Cast shell (`housing-shell`) (inferred)[^4] | 1 | 100 g (model) | not public | $0.32 | n/a | n/a | not public |
| · · Rear cover (`housing-cover`) (inferred)[^4] | 1 | 38 g (model) | not public | $0.12 | n/a | n/a | not public |
| · · Screw (`fasteners`) (inferred)[^4] | 16 | 7 g (model) | not public | $0.00 | n/a | n/a | not public |

Modeled parts weigh 556 g in all against the published 530 g.

## Used in

Robots and catalog actuators that use this actuator or one of its design, from the /humanoids fleet and the robots and actuator catalogs.

- [Unitree GO-M8010-6](https://actuatorlist.com/actuators/unitree-go-m8010-6): uses this actuator. This actuator in the catalog.
- [Unitree Robotics Go1](https://actuatorlist.com/robots#unitree-go1): uses this actuator, 12 joints (no photo on the site). 12 joints use this actuator in the robots catalog.
- [AgiBot X1](https://actuatorlist.com/humanoids?robot=agibot-x1): same design, 25 joints (no photo on the site). 25 joints of the same design on /humanoids.
- [K-Scale Labs K-Bot](https://actuatorlist.com/humanoids?robot=kscale-kbot): same design, 20 joints (no photo on the site). 20 joints of the same design on /humanoids.

## Cost stacks

Each priced node's unit cost in four bands that add up to it: the raw material inside, what the tiers below added on top of their raw material, this step's labour, energy, machines and overhead (with any margin we cannot attribute), and its maker's gross profit at the company's latest margin. The Sankey on the page draws the last two as flows into each step.

| Priced node | Unit cost | Raw material | Added by tiers below | Labour, energy, overhead | Maker's gross profit |
| --- | --- | --- | --- | --- | --- |
| GO-M8010-6 joint motor (`unitree-qdd`) | $369 | $3.13 | $4.1 | $139.9 | $221.9 |
| Motor-control MCU (`mcu`) | $0.80 | $0.00 | $0.00 | $0.80 | $0.00 |
| Gate driver (`gate-driver`) | $0.36 | $0.00 | $0.00 | $0.36 | $0.00 |
| Dual power MOSFET (`power-mosfets`) | $0.25 | $0.00 | $0.00 | $0.25 | $0.00 |
| RS-485 transceiver (`rs485-transceiver`) | $0.12 | $0.00 | $0.00 | $0.12 | $0.00 |
| Angle sensor chip (`encoder-chip`) | $2.07 | $0.00 | $0.00 | $2.07 | $0.00 |

## How the parts are made

The usual route from raw material to each part, in our words; magnets link to the steps on [/manufacturing](https://actuatorlist.com/manufacturing.md).

- GO-M8010-6 joint motor (`unitree-qdd`): Wind stator → Bond magnets → Assemble gearbox → Fit board → Calibrate encoder → Test
- Lamination stack (`stator-core`): Slit coil → Stamp sheets → Stack and bond
- Copper windings (`stator-winding`): Draw wire → Enamel → Wind coils → Impregnate
- Stator hub (`stator-hub`): Die-cast → CNC machine → Anodise
- Rotor back iron (`rotor-cup`): Cut bar → CNC turn → Heat-treat
- Rotor end plate (`rotor-plate`): CNC machine → Press sun gear
- Sun gear (`sun-gear`): Cut bar → Turn blank → Hob teeth → Carburise → Grind
- Planet gear (`planet-gears`): Cut bar → Turn blank → Hob teeth → Carburise → Grind
- Planet pin (`planet-pins`): Cut wire → Harden → Centreless grind
- Planet needle bearing (`planet-needles`): Forge rings → Turn → Harden → Grind races → Fit balls
- Ring gear (`ring-gear`): Forge ring → Turn → Shape teeth → Nitride
- Planet carrier (`planet-carrier`): Cut bar → CNC turn → Heat-treat
- Bare circuit board (`bare-board`): Laminate → Drill → Plate → Etch
- Motor-control MCU (`mcu`): Wafer fab → Dice → Package → Test
- Gate driver (`gate-driver`): Wafer fab → Dice → Package → Test
- Dual power MOSFET (`power-mosfets`): Wafer fab → Dice → Package → Test
- RS-485 transceiver (`rs485-transceiver`): Wafer fab → Dice → Package → Test
- Power and bus leads (`leads`): Draw wire → Strand → Insulate → Crimp
- Angle sensor chip (`encoder-chip`): Wafer fab → Dice → Package → Test
- Ball bearing (`bearings`): Forge rings → Turn → Harden → Grind races → Fit balls
- Cast shell (`housing-shell`): Die-cast → CNC machine → Anodise
- Rear cover (`housing-cover`): Die-cast → CNC machine → Anodise
- Screw (`fasteners`): Cold-head → Roll thread → Heat-treat → Plate

## Raw materials

| Material | In one actuator | Price per kg | Cost |
| --- | --- | --- | --- |
| NdPr alloy | 9 g (model) | 133.4 USD/kg[^12] | $1.24 |
| Copper | 69 g (model) | 14.3 USD/kg[^13] | $0.99 |
| Aluminium | 177 g (model) | 3.25 USD/kg[^14] | $0.58 |
| Dy metal | 0.62 g (model) | 233.6 USD/kg[^15] | $0.14 |
| Bearing steel | 123 g (model) | ~0.67-0.69 USD/kg[^16] (estimate, 2025) | $0.08 |
| Electrical steel | 110 g (model) | ~0.6-0.62 USD/kg[^17] (estimate, 2026-06) | $0.07 |
| Steel | 67 g (model) | ~0.51-0.52 USD/kg[^18] (estimate, 2026-06) | $0.03 |
| Silicon | 0.02 g (model) | 3.13 USD/kg[^19] | $0.00 |

## Margin capture

Each tier's gross profit is what it sells into this actuator times its latest company gross margin (a group figure, not a product line). The rest of the price pays for labour, energy, machines and margins of makers we cannot name.

| Who | Tier | Sells in this actuator | Gross margin | Gross profit | Share of price |
| --- | --- | --- | --- | --- | --- |
| Unitree Robotics | `unitree-qdd` | $369 | 60%[^3] | $221.9 | 60.1% |
| China Northern Rare Earth (typical maker) | `rotor-magnet-ndpr` | $1.21 | ~12%[^20] (estimate, 2025) | $0.14 | 0% |
| China Northern Rare Earth (typical maker) | `encoder-magnet-ndpr` | $0.02 | ~12%[^20] (estimate, 2025) | $0 | 0% |
| Raw material (miners' and mills' margins inside) |  | $3.13 |  |  | 0.85% |
| Everything else: makers' costs and margins we cannot attribute |  | $144 |  |  | 39% |

## Method

- Costs: Unitree makes the parts itself and publishes no internal costs, so only the shelf price, the chips it buys in (distributor prices for comparable parts) and raw materials are known; what is left shows at the motor as Unitree's labour and overhead and its gross profit.
- Bought-in chips and bearings: distributor or marketplace listings for the same or a comparable part, never the actuator maker's contract price.
- Raw material: grams from our part geometry times cited densities, priced with /metals for rare earths and cited commodity readings for the rest.
- Magnets: an SH-grade recipe with grain-boundary diffused Dy, from /metals.
- See [/manufacturing](https://actuatorlist.com/manufacturing.md) for how the magnet is made, and [/bom](https://actuatorlist.com/bom.md) for all three cases.

## Sources

[^1]: Unitree, "Bionic robot joint motor GO-M8010-6". https://www.unitree.com/go1/motor (not opened).
[^2]: Unitree, "GO-M8010-6 Motor (Unitree shop)". https://shop.unitree.com/products/go1-motor (not opened).
[^3]: Shanghai Stock Exchange (Global Times), "Unitree Robotics kicks off STAR market IPO pricing, expected to exceed $5.9 billion in value". https://english.sse.com.cn/news/newsrelease/voice/c/c_20260806_10828128.shtml (not opened).
[^4]: Simplexity Product Development, "Unitree Go2 motor teardown". https://www.simplexitypd.com/blog/unitree-go2-motor-teardown/ (not opened).
[^5]: SimpleFOC community, "Unitree Go2 / GO-M8018-6 motor as an open FOC platform?". https://community.simplefoc.com/t/unitree-go2-go-m8018-6-motor-as-an-open-foc-platform/8140 (not opened).
[^6]: Hackaday, "Unitree GO-M8018-6 motor reverse engineering". https://hackaday.com/2026/05/23/unitree-go-m8018-6-motor-reverse-engineering/ (not opened).
[^7]: LCSC, "STM32F103C8T6 (C8734) price tiers". https://www.lcsc.com/product-image/C8734.html (not opened).
[^8]: LCSC, "Fortior Tech FD6288Q three-phase gate driver (C328453) price tiers". https://lcsc.com/product-detail/Gate-Drivers_Fortior-Tech-FD6288Q_C328453.html (not opened).
[^9]: LCSC, "Winsok WSD4066DN dual N-channel 40 V MOSFET (C377861)". https://www.lcsc.com/datasheet/lcsc_datasheet_1912111437_Winsok-Semicon-WSD4066DN_C377861.pdf (not opened).
[^10]: LCSC, "UMW SP3485EN RS-485 transceiver (C44850899) price tiers". https://www.lcsc.com/product-image/C44850899.html (not opened).
[^11]: LCSC, "Magn Tek MT6835GT-STD magnetic angle sensor (C2932578) price tiers". https://www.lcsc.com/product-detail/Position-Sensors_Magn-Tek-MT6835GT-STD_C2932578.html (not opened).
[^12]: Rare Earth Mining (SMM data), "Neodymium price today: NdPr spot and industrial benchmark". https://rare-earth-mining.com/neodymium-price/ (accessed 2026-10-26).
[^13]: Cbonds (World Bank Pink Sheet), "Copper (World Bank) monthly price, USD/t". https://cbonds.com/indexes/154158/ (not opened).
[^14]: Cbonds (World Bank Pink Sheet), "Aluminum (World Bank) monthly price, USD/t". https://cbonds.com/indexes/154154/ (not opened).
[^15]: Rare Earth Mining (SMM data), "Dysprosium price today: spot rate and market outlook". https://rare-earth-mining.com/dysprosium-price/ (accessed 2026-10-26).
[^16]: China Bearing Industry Association (CBCC), "Bearing steel market report: GCr15 absolute price index". https://bearing.com.cn/dev/read_news.php?id=73305 (not opened).
[^17]: SMM, "SMM weekly summary: non-oriented silicon steel market". https://news.metal.com/es/newscontent/103952808-SMM-Weekly-Summary-Leading-steel-mills-did-not-continue-to-push-up-prices-and-the-non-oriented-silicon-steel-market-may- (not opened).
[^18]: SMM, "Shagang June 2026 hot-rolled steel price adjustment". https://news.metal.com/id/newscontent/103932178-Informasi-Penyesuaian-Harga-Baja-Canai-Panas-Shagang-Juni-2026 (not opened).
[^19]: USGS, "Mineral Industry Surveys: silicon, December 2025". https://d9-wret.s3.us-west-2.amazonaws.com/assets/palladium/production/s3fs-public/media/files/mis-202512-simet.pdf (not opened).
[^20]: StockAnalysis, "China Northern Rare Earth (SHA:600111) income statement". https://stockanalysis.com/quote/sha/600111/financials/income-statement/ (not opened).