Pepper - Motors
Location
Motors
| |
Motor type 1 |
Motor type 2 |
Motor type 3 |
Motor type 4 |
Motor type 5 |
|---|
| Family |
Brush DC Coreless |
BLDC (Brushless DC) |
| Model |
SE24P2CTCA |
SE24M1RTCA |
17N88208E |
EC-45_50W |
EC45_70W |
| No load speed (rpm) |
5 715 |
8 459 |
8400 |
4730 |
6110 |
| Torque constant (mNm/A) |
27.5 |
19.2 |
20.1 |
47.5 |
36.9 |
| Stall torque (mNm) |
122.9 |
61.7 |
9,4 |
560 |
820 |
| Max Continuous torque (mNm) |
42.9 |
23.8 |
4.9 |
69.5 |
130 |
| Speed Reduction ratio - Type A |
101.3 |
118.1 |
50.61 |
109.084 |
109.084 |
| Speed Reduction ratio - Type B |
|
|
36.24 |
|
25 |
Head
| Joint |
Motor |
Reduction ratio |
| HeadYaw |
Type 1 |
Type A |
| HeadPitch |
Type 2 |
Type A |
Arms
| Joint |
Motor |
Reduction ratio |
| ShoulderPitch |
Type 1 |
Type A |
| ShoulderRoll |
Type 2 |
Type A |
| ElbowYaw |
Type 1 |
Type A |
| ElbowRoll |
Type 2 |
Type A |
Hands
| Joint / Actuator |
Motor |
Reduction ratio |
| WristYaw |
Type 3 |
Type A |
| Hand |
Type 3 |
Type B |
Leg
| Joints |
Motor |
Reduction ratio |
| HipRoll |
Type 4 |
Type A |
| HipPitch |
Type 5 |
Type A |
| KneePitch |
Type 5 |
Type A |
| WheelFL |
Type 5 |
Type B |
| WheelFR |
Type 5 |
Type B |
| WheelB |
Type 5 |
Type B |