H21 - Motors

See also

V4 | V3.3 | V3.2

NAO H21 | Motors

Location

../../_images/hardware_motortype_h21.png

Motors

There are 3 types of motor in NAO - V. 4.0:

  Motor type 1 Motor type 2 Motor type 3
Model 22NT82213P 17N88208E 16GT83210E
No load speed 8 300 rpm ±10% 8 400 rpm ±12% 10 700 rpm ±10%
Stall torque 68 mNm ±8% 9,4 mNm ±8% 14,3 mNm ±8%
Nominal torque 16.1 mNm 4.9 mNm 6.2 mNm

Speed Reduction ratio

For each motor, there are several types of speed reduction ratio:

  Motor type 1 Motor type 2 Motor type 3
Type A 201.3 50.61 150.27
Type B 130.85 36.24 173.22

Arms

Joint Motor Reduction ratio
ShoulderPitch Type 3 Type A
ShoulderRoll Type 3 Type B
ElbowYaw Type 3 Type A
ElbowRoll Type 3 Type B

Legs

Joint Motor Reduction ratio
HipYawPitch Type 1 Type A
HipRoll Type 1 Type A
HipPitch Type 1 Type B
KneePitch Type 1 Type B
AnklePitch Type 1 Type B
AnkleRoll Type 1 Type A
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