Sectaurs!
Here’s a random episode of Sectaurs, from 1985:
I barely remember the cartoon, but Sectaurs remains one of my all-time favorite toy lines. Picture He-Man with bugs, and you’re on the right track.
This is the third of the show’s five total episodes. I’m not sure if it’ll be easy to pick up without seeing the first two eps, but I guess you’re about to find out!