Speed Reduction ratio
For each motor, there are several types of speed reduction ratio:
Speed Reduction ratio |
Motor type 1 |
Motor type 2 |
Motor type 3 |
Motor type 4 |
Type A |
201.3 |
150.27 |
800 |
372 |
Type B |
130.85 |
173.22 |
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The table below lists the motor type and reduction ratio for each joint in NAO - V. 3.2:
Head
Joint |
Motor |
Reduction ratio |
HeadYaw |
Type 2 |
Type A |
HeadPitch |
Type 2 |
Type B |
Arms
Joint |
Motor |
Reduction ratio |
ShoulderPitch |
Type 2 |
Type A |
ShoulderRoll |
Type 2 |
Type B |
ElbowYaw |
Type 2 |
Type A |
ElbowRoll |
Type 2 |
Type B |
Hands
Joint / Actuator |
Motor |
Reduction ratio |
WristYaw |
Type 3 |
Type A |
Hand |
Type 4 |
Type A |
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 |